基于浸入与不变理论的航天器姿态跟踪自适应控制

In this paper, the spacecraft attitude tracking control with inertia uncertainty is addressed, and a novel Immersion and Invariance (I&I) based adaptive tracking controller is proposed. The results show that the parametric regression matrix is not integrable when I&I methodology is applied to the attitude dynamic systems, which leads to non-analytical solution of partial differential equations in the I&I controller design. To overcome this problem, this paper presented a new I&I adaptive tracking controller for the spacecraft attitude via the dynamic scaling technique. A rigorous Lyapunov analysis is provided to guarantee the globally asymptotic stability of the closed-loop systems. A key feature in this paper is that the controller implementation is no need of the scaling factor and the prior knowledge of inertia matrix by virtue of the innovative scaling factor design. Finally, the effectiveness and superiority of the proposed controller are illustrated by numerical simulations compared with the certainty- equivalence-based controller.