Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint

Abstract This paper addresses the noncooperative attitude tracking control problem for rigid bodies whose dynamics evolves on rotation matrix . First, based relative measurement, a saturated angular velocity input is designed by proposed nonlinear function. Thereafter, torque body's with saturation constraint and active disturbance rejection developed modified dynamic surface approach which can avoid large in practice. Furthermore, using only measurements, two types of velocity‐free laws are considered, respectively. In contrast to those schemes that require desired available body, scheme able solve scenarios, where acceleration not accessible. Since described enables controller use local measurements body‐fixed frame rather than global an inertial frame, robust easier implement Finally, numerical simulations SimMechanics experiments provided illustrate effectiveness theoretical results.