NDLI: Adaptive attitude tracking control with parameter identification by shaping invariant manifold

Content Provider	IEEE Xplore Digital Library
Author	Dongeun Seo
Copyright Year	2015
Description	Author affiliation: Fac. of Aerosp. Eng., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA (Dongeun Seo)
Abstract	The nonlinear adaptive attitude control problem is considered with the focus on the identification of unknown system parameters. The unknown parameters are assumed to be constant and the quaternion representation of the kinematic equations is adopted to avoid the singularity in three-parameter representations. In addition to the global asymptotic convergence of the tracking error to zero, the parameter identification is guaranteed with a simple reference signal. The parameter identification procedures rely on the shaping of the invariant manifold introduced in the adaptation algorithm. The main contribution of the paper is to propose the algorithm to identify the unknown system parameters without designing reference signals for the satisfaction of a rank condition. In order to guarantee the convergence of the estimator to the true system parameters, a three-stage estimation algorithm is proposed. At each stage, the system has a different invariant manifold in its closed-loop system dynamics. Numerical simulations demonstrate the effectiveness of the proposed method.
Starting Page	1555
Ending Page	1560
File Size	444862
Page Count	6
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7170954
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Convergence Manifolds Attitude control Transient analysis Quaternions Angular velocity Adaptive systems non-certainty equivalence principle Adaptive control attitude control parameter identification
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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