Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions
This paper addresses the simultaneous attitude and position tracking of a target spacecraft in the presence of general unknown bounded disturbances in the framework of dual quaternions, which provides a concise and integrated description of the coupled rotational and translational motions. By virtue...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6624222 |
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| author | Xiaoping Shi Xuan Peng Yupeng Gong |
| author_facet | Xiaoping Shi Xuan Peng Yupeng Gong |
| author_sort | Xiaoping Shi |
| collection | DOAJ |
| description | This paper addresses the simultaneous attitude and position tracking of a target spacecraft in the presence of general unknown bounded disturbances in the framework of dual quaternions, which provides a concise and integrated description of the coupled rotational and translational motions. By virtue of the newly introduced dual direction cosine matrix, the dimension of the dual quaternion-based relative motion dynamics written in vector/matrix form can be lowered to six. Treating the disturbances as unknown parameters, a modular adaptive pose tracking control scheme composed of two separately designed parts is then derived. One part is the adaptive disturbance estimator designed based on the immersion and invariance theory. Driven by the disturbance estimation errors, it can realize exponential convergence of the estimations and has the nice “parameter lock” property, which can hardly be expected in the conventional certainty equivalent adaptive controllers. The other part is a proportional-derivative-like pose tracking controller where the estimated disturbances are directly used. The closed-loop stability of the relative motion system under different kinds of disturbances is proven by Lyapunov stability analysis. Simulations and comparisons with two previous dual quaternion-based controllers demonstrate the novel features and performance improvements of the proposed control scheme. |
| format | Article |
| id | doaj-art-b012ef537f7c46a0a6450479d3fb5f46 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-b012ef537f7c46a0a6450479d3fb5f462025-02-03T06:43:55ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66242226624222Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual QuaternionsXiaoping Shi0Xuan Peng1Yupeng Gong2Control and Simulation Center, Harbin Institute of Technology, Harbin 150080, ChinaControl and Simulation Center, Harbin Institute of Technology, Harbin 150080, ChinaResearch Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaThis paper addresses the simultaneous attitude and position tracking of a target spacecraft in the presence of general unknown bounded disturbances in the framework of dual quaternions, which provides a concise and integrated description of the coupled rotational and translational motions. By virtue of the newly introduced dual direction cosine matrix, the dimension of the dual quaternion-based relative motion dynamics written in vector/matrix form can be lowered to six. Treating the disturbances as unknown parameters, a modular adaptive pose tracking control scheme composed of two separately designed parts is then derived. One part is the adaptive disturbance estimator designed based on the immersion and invariance theory. Driven by the disturbance estimation errors, it can realize exponential convergence of the estimations and has the nice “parameter lock” property, which can hardly be expected in the conventional certainty equivalent adaptive controllers. The other part is a proportional-derivative-like pose tracking controller where the estimated disturbances are directly used. The closed-loop stability of the relative motion system under different kinds of disturbances is proven by Lyapunov stability analysis. Simulations and comparisons with two previous dual quaternion-based controllers demonstrate the novel features and performance improvements of the proposed control scheme.http://dx.doi.org/10.1155/2021/6624222 |
| spellingShingle | Xiaoping Shi Xuan Peng Yupeng Gong Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions Complexity |
| title | Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions |
| title_full | Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions |
| title_fullStr | Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions |
| title_full_unstemmed | Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions |
| title_short | Immersion and Invariance Adaptive Control for Spacecraft Pose Tracking via Dual Quaternions |
| title_sort | immersion and invariance adaptive control for spacecraft pose tracking via dual quaternions |
| url | http://dx.doi.org/10.1155/2021/6624222 |
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