In this paper the attitude tracking problem is solved for a flexible spacecraft in the case of measurements of the variables describing the attitude error. Such a control could be applied in failure situations for recovering a spacecraft, so increasing the fault tolerance of the spacecraft control system and the success of the mission. The result is a dynamic controller capable of reconstructin...

An output feedback control law is proposed in this paper for spacecraft attitude reorientation task. Although maneuver has been widely investigated and obtained significant results, it still challenging when considering pointing constraints lacking the information of angular velocity. Firstly, potential function introduced to tackle constraints. Then, by jointly designing sign function, anti-un...

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, then this is estimated online via extended state observer (ESO). Further, quaternion-based feedback developed, which assisted by feedforward term obtained ESO relie...

In this paper, we proposed a coarse-alignment method for strapdown inertial navigation systems based on attitude determination. The observation vectors, which can be obtained by inertial sensors, usually contain various types of noise, which affects the convergence rate and the accuracy of the coarse alignment. Given this drawback, we studied an attitude-determination method named optimal-REQUE...

This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in a n inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the co...

This thesis presents an implementation of a sequential extended Kalman filter applied to position, velocity and attitude estimation of autonomous vehicles. The filter is self-tuning by the introduction of a particle swarm otimization which tunes the process noise covariance. The sensor fusion is adaptive through the means of corrector signals. It accepts correctors in position, velocity and att...

This paper presents an extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (Magnetic, Angular Rate, and Gravity) sensors. Each MARG sensor contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-s...

This paper focuses on a new type of control laws for oriented mechanical systems. The starting point is dual quaternion and its properties. Logarithm of dual quaternion is defined, based on which control laws are developed, tackling both regulation and tracking problems using logarithmic feedback. The control laws are shown to have several merits, including global asymptotically convergence, co...