›› 2012, Vol. 32 ›› Issue (6): 31-38.doi: 10.3780/j.issn.1000-758X.2012.06.005

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Immersion and Invariance Based Attitude Controllers Subject to Input Saturation and Disturbances

 HU  Jin-Chang1,2, ZHANG  Hong-Hua1,2   

  1. (1Beijing Institute of Control Engineering,Beijing100190)
    (2Science and Technology on Space Intelligent Control Laboratory,Beijing100190)
  • Received:2012-02-23 Revised:2012-05-02 Online:2012-12-25 Published:2012-12-25

Abstract: A new attitude controller was proposed for rigidbody spacecraft subject to input saturation and slow-varying disturbances.Based on the immersion and invariance methodology,the slowvarying disturbances were regarded as unknown parameters and the estimation equation was then derived independent of the control input.The controller was designed based on the estimation of the disturbances,which was simply in the proportional and differential form plus a disturbance compension term.By means of the immersion and invariance method,the following results were obtained:when the disturbance is varying slowly,the attitude tracking errors can be regulated to a ball near the origin that can be arbitrarily small by adjusting some parameters;when the disturbances are constant,the influence of disturbances can be completely eliminated and global asymptotical stability is obtained.Finally,simulations were presented to validate the effectiveness of the proposed control scheme.

Key words: Saturated attitude control, Disturbance rejection, Immersion and invariance, Spacecraft