Continuous adaptive-gain finite-time control for rigid body attitude dynamics on SO(3) |
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| Authors: | Xiao-Ning Shi Di Zhou Ruifeng Li |
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| Affiliation: | 1. Department of Control Science and Engineering, School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China;2. Frontier Technology R&3. D Department, Fujian(Quanzhou)-HIT Research Institute of Engineering and Technology, Quanzhou, People's Republic of China;4. The State Key Lab of Robotics and Systems Harbin Institute of Technology, Habin, People's Republic of China |
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| Abstract: | In this paper, the attitude tracking problem for the rigid body with model uncertainties and external disturbances is investigated in a coordinate-free way. A continuous adaptive-gain second-order sliding mode controller is designed to ensure the establishment of a real second-order sliding mode in finite time, and then the predefined nonsingular fast sliding surface further implies finite-time stability of the attitude error vector and the angular velocity error vector. The key feature of the proposed controller is that it does not require the knowledge of the boundary of the disturbance gradient. A rigorous mathematical proof for the stability of the control system is derived by using the Lyapunov function technique. Finally, simulation comparisons illustrate the effectiveness and robustness of the controller. |
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| Keywords: | Attitude tracking continuous second-order sliding-mode control finite-time control adaptive control |
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