Vutukuri, S and Padhi, R (2023) Nussbaum Gain-Based Cone Angle Constrained Fault-Tolerant Attitude Control with Time-Varying Inertia. In: UNSPECIFIED, pp. 5554-5559.
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Abstract
This paper proposes a robust adaptive attitude control law for handling a class of actuator faults in the presence of various challenges, such as time-varying inertia, attitude constraints, and input saturation. The proposed approach uses cone angles to represent orientation errors, which are constrained within a performance function to ensure desired transient and steady-state behaviour during reference tracking. Input saturation is approximated using a smooth hyperbolic tangent function. The Nussbaum gain technique is used to handle the unknown control coefficients, which guarantees uniformly ultimately bounded stability in the presence of uncertainties and disturbances. The paper also proposes a norm-based disturbance approximation to estimate the total uncertainty during the Lyapunov analysis. Numerical simulations demonstrate the effectiveness of the proposed control law. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
| Item Type: | Conference Paper |
|---|---|
| Publication: | IFAC-PapersOnLine |
| Publisher: | Elsevier B.V. |
| Additional Information: | The copyright for this article belongs to authors. |
| Department/Centre: | Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering) |
| Date Deposited: | 20 May 2024 04:40 |
| Last Modified: | 20 May 2024 04:40 |
| URI: | https://eprints.iisc.ac.in/id/eprint/84500 |
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