This paper proposes a novel finite-time attitude-tracking controller when the system dynamics are affected by unknown constant disturbances. Also, the inertia matrix and the disturbances affecting the dynamics are unknown. Finite-time attitude tracking for uncertain spacecraft systems is an interesting problem. Due to the inherent non-linear nature of the problem, it becomes challenging to design finite-time attitude-tracking controllers. Hence, we have designed an adaptive control-based finite-time attitude-tracking controller. First, a fixed-time sliding surface was proposed, and hence, after reaching the sliding surface, the attitude tracking error goes to zero in fixed-time. Then, the control torque, which contains adaptive parameter updates for the unknown system inertia matrix, is designed. The control torque ensures that the attitude tracking error reaches the sliding surface in finite time despite the unknown inertia matrix and unknown constant disturbances present in the dynamics so that finite-time attitude tracking can be achieved. Simulations are presented to validate the theoretical results.


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    Title :

    Robust Adaptive Finite-Time Attitude Tracking with an unknown Inertia Matrix and Disturbance


    Contributors:


    Publication date :

    2024-06-18


    Size :

    533033 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English