Output feedback control for attitude tracking |
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Authors: | Fabrizio Caccavale Luigi Villani |
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Affiliation: | PRISMA Lab, Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy |
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Abstract: | In this paper the problem of attitude tracking control for a rigid spacecraft is addressed. It is assumed that only attitude measurements are available, and thus spacecraft's angular velocity has to be properly estimated. Two alternative schemes are proposed in which the unit quaternion is adopted to represent the orientation. In the first scheme, a second-order model-based observer is adopted to estimate the angular velocity used in the control law. In the second scheme, an estimate of the angular velocity error is obtained through a lead filter. Sufficient conditions ensuring local exponential stability of the two controllers are derived via Lyapunov analysis. |
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Keywords: | Attitude control Output feedback Lyapunov stability Unit quaternion |
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