论文标题
使用矢量和偏置陀螺测量的刚体跟踪态度跟踪
Attitude Tracking for Rigid Bodies Using Vector and Biased Gyro Measurements
论文作者
论文摘要
在本说明中研究了使用矢量和偏置陀螺测量的僵化态度跟踪。首先，设计了具有全球指数稳定性的陀螺偏见观察者。然后，设计了基于该观察者的态度跟踪控制器，从而确保了几乎全局的渐近稳定性和几乎半光彩的指数稳定性。证明了组合观察者控制器的分离属性。最后，依赖于修改的陀螺偏见观察者并且没有过度参数化的自适应态度跟踪控制器被开发出来来处理未知的惯性矩阵。所提出的控制方案既不需要明确的态度表示，也不需要任何态度估计，而只需要测量至少两个非共线已知的已知惯性参考矢量和有偏见的陀螺率，这可以通过常见的低成本IMU传感器获得。包括模拟以说明在噪声测量下提出的自适应控制器。
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller based on this observer is devised, ensuring almost global asymptotic stability and almost semiglobal exponential stability. A separation property of the combined observer-controller is proved. Lastly, an adaptive attitude tracking controller relying on a modified gyro-bias observer and with no over-parametrization is developed to deal with the unknown inertia matrix. The proposed control schemes require neither an explicit attitude representation nor any attitude estimation, but only the measurement of at least two non-collinear known inertial reference vectors and biased gyro rate, which can be obtained by common low-cost IMU sensors. Simulations are included to illustrate the proposed adaptive controller under noisy measurements.
