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• W2582169600 abstract "In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty, bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia, and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol." @default.
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• W2582169600 date "2017-02-01" @default.
• W2582169600 modified "2023-09-26" @default.
• W2582169600 title "Attitude control of rigid body with inertia uncertainty and saturation input" @default.
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• W2582169600 doi "https://doi.org/10.1109/tst.2017.7830898" @default.
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