Rigid body attitude control with complete rejection of unknown external disturbances

Tomić, Teodor and Kasać, Josip and Milić, Vladimir (2011) Rigid body attitude control with complete rejection of unknown external disturbances. = Rigid body attitude control with complete rejection of unknown external disturbances. In: The 22nd DAAAM International World Symposium, 23-26.11.2011., Beč, Austrija.

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Abstract

In this paper a new class of rigid body attitude controllers is proposed. The proposed controllers provide asymptotic attitude stabilization with complete rejection of unknown external disturbances. The controller design is based on integral sliding-mode control strategy which, in contrast with standard sliding mode control approach, provides asymptotic tracking without chattering. Simulation results show favorable features of proposed controllers for stabilization of rigid body in presence of relatively large disturbances.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): rigid body control; disturbance rejection; integral sliding mode control; sliding PID control
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Citations SCOPUS: 0 (19.09.2018.)
Date Deposited: 10 May 2017 13:47
Last Modified: 19 Sep 2018 09:58
URI: http://repozitorij.fsb.hr/id/eprint/7722

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