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Adaptive Attitude Tracking Control of Rigid Body Systems with Unknown Inertia and Gyro-bias
| Content Provider | Hyper Articles en Ligne (HAL) |
|---|---|
| Author | Benallegue, Abdelaziz Chitour, Yacine Tayebi, Abdelhamid |
| Abstract | This note presents a new adaptive attitude tracking controller for rigid body systems, with unknown inertia and unknown gyrobias, using inertial vector measurements. The proposed control scheme guarantees almost global asymptotic convergence of the attitude and angular velocity to their desired values. Simulation results are provided to illustrate the effectiveness of the proposed approach. |
| Related Links | https://hal.science/hal-01507341v2/file/Revised_paper_R3.pdf |
| ISSN | 00189286 |
| DOI | 10.1109/tac.2018.2808443 |
| Journal | IEEE Transactions on Automatic Control |
| Issue Number | 11 |
| Volume Number | 63 |
| Language | English |
| Publisher | HAL CCSD Institute of Electrical and Electronics Engineers |
| Publisher Date | 2018-11-01 |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
| Subject | Mathematics Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications |