Ultimate state boundedness of underactuated spacecraft subject to an unmatched disturbance

Nonlinear Tracking Control of an Underactuated Spacecraft

In this paper, we design a nonlinear controller for the kinematic model of an underactuated rigid spacecraft that ensures uniform, ultimately bounded (UUB) tracking provided the initial errors are selected sufficiently small. The result is achieved via a judicious formulation of the spacecraft kinematics and the novel design of a Lyapunov-based controller. We also discuss how standard backstepp...

Adaptive Nonlinear Tracking Control of an Underactuated Nonminimum Phase Model of a Marine Vehicle Using Ultimate Boundedness

In this paper, an adaptive nonlinear tracking controller for an underactuated nonminimum phase model of a marine vehicle is derived. The result is kept flexible enough, throughout its derivation, to be applicable to a large variety of marine vehicles. The characteristics of the dynamic model are such that solving the tracking problem is non-trivial. Specifically, we consider a propulsion system...

An algorithm of uniform ultimate boundedness for switched linear systems

* 0-7803-7952-7/03/$17.00  2003 IEEE. Abstract Uniform ultimate boundedness of a new class of switched linear systems is considered. A switched linear system in this class consists of m subsystems, and none of the individual subsystems need to be stabilizable. The switched linear system is shown to be uniformly ultimately bounded for any pre-given bound if the combination of controllable compo...

Control of underactuated spacecraft with bounded inputs

We provide stabilizing feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. The proposed control law forces all closed-loop trajectories in a region of the state space where the control inputs are small and bounded. The control law is subsequently extended to solve the case of attitude tracking for an underactuated spacecraft u...

Partial Attitude Synchronization of Underactuated Spacecraft Systems