Affordable Access

Publisher Website

Smooth attitude stabilisation in prescribed time of a rigid body despite uncertainties in inertia and additive disturbances

Authors
  • Sarras, Ioannis
Publication Date
Jun 28, 2022
Identifiers
DOI: 10.1109/MED54222.2022.9837187
OAI: oai:HAL:hal-03798887v1
Source
HAL-Descartes
Keywords
Language
English
License
Unknown
External links

Abstract

We consider the problem of stabilisation in predefined, finite time of the attitude of a rigid body. Inspired by classical laws in missile guidance, the proposed control law is time-varying but smooth as opposed to classical sliding-modebased laws that are generally discontinuous, or continuous at best, and suffer from robustness issues. Through a backstepping design, and the explicit construction of a strict Lyapunov function, we are able to ensure stabilisation to a desired attitude even in the presence of uncertainties in the inertia matrix and under the effect of additive disturbances. Numerical simulations show the efficiency of the proposed controller.

Report this publication

Statistics

Seen <100 times