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首页> 外文期刊>Journal of guidance, control, and dynamics >Rigid-Body Attitude Tracking with Vector Measurements and Unknown Gyro Bias
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Rigid-Body Attitude Tracking with Vector Measurements and Unknown Gyro Bias

机译：具有矢量测量和未知陀螺仪偏差的刚体姿态跟踪

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摘要

The problem of rigid-body attitude tracking is examined for the case in which there is an unknown gyro bias, and vector attitude measurements are used that necessitate estimation of the attitude quaternion. A new adaptive control scheme is proposed that meets the attitude tracking control objective of forcing the attitude and angular velocity tracking errors to zero by a suitable reparameterization of the unknown gyro-bias parameters. In addition, it is shown that the bias and the quaternion estimates converge to their corresponding true values, irrespective of the nature of the underlying attitude reference trajectory. Controllers are introduced for the cases in which the body's inertia matrix is both known and unknown. Convergence is shown through a Lyapunov-like stability analysis, and performance of the controllers is shown through simulation. Furthermore, simulations are shown with noise on the available measurements and with slowly varying gyro bias to highlight the performance benefits of the proposed control scheme.
机译：对于存在未知陀螺仪偏差的情况，研究了刚体姿态跟踪的问题，并使用了矢量姿态测量来估算姿态四元数。提出了一种新的自适应控制方案，该方案通过对未知陀螺仪参数进行适当的重新参数化来满足将姿态和角速度跟踪误差强制为零的姿态跟踪控制目标。另外，表明了偏差和四元数估计收敛到它们相应的真实值，而与基础姿态参考轨迹的性质无关。针对已知和未知物体惯性矩阵的情况引入了控制器。通过类似Lyapunov的稳定性分析来显示收敛性，并通过仿真来显示控制器的性能。此外，在可用的测量结果中显示了带有噪声的仿真，并以缓慢变化的陀螺仪偏置来显示仿真结果，以突出提出的控制方案的性能优势。

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