Abstract This paper investigates the position and attitude (pose) tracking control of a rigid body with uncertain mass and inertia. By virtue of the dual quaternion description, a six-degree-of-freedom (6-DOF) relative motion model is established in an integrated and compact way. Then an adaptive pose tracking controller is proposed based on the immersion and invariance (I&I) theory, where the key integrability obstacle is overcome by the dynamic scaling technique. Compared with the existing filter system-based method that constructs a filter system to circumvent the integrability obstacle, the dynamic scaling-based method is directly designed based on the original system, which is capable of retaining all benefits of the I&I design with much lower dimension dynamic extensions. Comparisons with the filter system-based I&I method and the classical certainty equivalent method are first carried out from the theoretical analyses, which elucidate benefits of the proposed method in lower control demands. Then the comparative simulations are conducted to verify the features and effectiveness of the proposed dynamic scaling-based I&I adaptive control scheme.
Highlights In the framework of dual quaternions, a six-degree-of-freedom adaptive pose tracking controller is proposed based on the immersion and invariance. Substantial dimension reduction and structure simplification are achieved by using the dynamic scaling technique. Ideal closed-loop performances are guaranteed to be recovered by the proposed adaptive controller. Control demands and energy consumptions are barely affected by the adaptive gain and can always be kept close to those in the ideal case. Thorough theoretical analyses are presented to elucidate the benefits of the proposed adaptive controller.
Dynamic scaling-based immersion and invariance adaptive pose tracking control using dual quaternions
Acta Astronautica ; 216 ; 395-410
2023-12-26
16 pages
Article (Journal)
Electronic Resource
English
Extended Kalman Filter for Spacecraft Pose Estimation Using Dual Quaternions
Online Contents | 2015
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