In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) recently proposed Hamiltonian representation nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.

In this paper, a continuous globally stable tracking control algorithm is proposed for a spacecraft in the presence of unknown actuator failure, control input saturation, uncertainty in inertial matrix and external disturbances. The design method is based on variable structure control and has the following properties: (1) fast and accurate response in the presence of bounded disturbances; (2) r...

In this paper, a continuous stable tracking control algorithm is proposed for spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. The design method is based on variable structure control and has the following properties: 1) fast and accurate response in the presence of bounded disturbances; 2) robust to the partial loss of actuator effecti...

Orientation estimation using low cost sensors is an important task for Micro Aerial Vehicles (MAVs) in order to obtain a good feedback for the attitude controller. The challenges come from the low accuracy and noisy data of the MicroElectroMechanical System (MEMS) technology, which is the basis of modern, miniaturized inertial sensors. In this article, we describe a novel approach to obtain an ...

Considering mismatched disturbances, aerodynamic interference, chattering, and actuator failure in the attitude control of quadrotor unmanned aerial vehicle (UAV), this paper establishes a new UAV model with based on quaternion, designs fault tolerant controller. First, order to reduce chattering traditional reaching law, law sigmoid function is introduced into design. Second, sliding mode back...

An adaptive control technique can be applicable to reorient spacecraft with uncertain properties such as mass, inertial and various misalignments. A nonlinear quaternion feedback controller is chosen as a baseline attitude controller. A linearly added adaptive input supported by neural networks to the baseline controller can estimate and eliminate the uncertain spacecraft property adaptively. T...

The division algebra of real quaternions, as the only noncommutative normed division real algebra up to isomorphism of normed algebras, is of great importance. In this note, first we present a brief introduction to quaternion matrices and quaternion linear algebra. This, among other things, will help us present the counterpart of a theorem of Herman Auerbach in the setting of quaternions. More ...

Extended Kalman filter (EKF) has been widely used for attitude determination in various satellite missions. However, it 1 requires an extensive computational power which is not suitable for nano-satellite application. This paper proposes a gain-scheduled 2 EKF (GSEKF) to reduce the computational requirement in nano-satellite attitude determination process. The proposed GSEKF 3 eliminates the on...