Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation

Shao, X; Hu, Q; Li, D; Shi, Y; Yi, B

Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation

Shao, X Hu, Q Li, D Shi, Y Yi, B

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Publisher:: Institute of Electrical and Electronics Engineers (IEEE)
Publication Type:: Journal Article
Citation:: IEEE Transactions on Aerospace and Electronic Systems, 2022, PP, (99), pp. 1-15
Issue Date:: 2022-01-01

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Field	Value	Language
dc.contributor.author	Shao, X
dc.contributor.author	Hu, Q
dc.contributor.author	Li, D
dc.contributor.author	Shi, Y
dc.contributor.author	Yi, B https://orcid.org/0000-0002-0517-9519
dc.date.accessioned	2023-03-10T04:09:52Z
dc.date.available	2023-03-10T04:09:52Z
dc.date.issued	2022-01-01
dc.identifier.citation	IEEE Transactions on Aerospace and Electronic Systems, 2022, PP, (99), pp. 1-15
dc.identifier.issn	0018-9251
dc.identifier.issn	1557-9603
dc.identifier.uri	http://hdl.handle.net/10453/166959
dc.description.abstract	This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking problem of a rigid body with uncertain inertia parameters, without the need for a persistent excitation (PE) condition. Specifically, a composite adaptive control scheme with guaranteed parameter convergence is proposed by integrating the dynamic regressor extension and mixing (DREM) technique into the dynamically scaled immersion and invariance adaptive control framework, wherein we modify the scaling factor so that the algorithm design does not involve any dynamic gains. To avoid the unwinding problem, a barrier function is introduced as the attitude error function, along with the establishment of two key algebraic properties for exponential stability analysis. Aiding by an linear time-varying filter, the scalar regressor of DREM is extended to generate an exciting counterpart. In this manner, the derived controller is shown to permit closed-loop exponential stability under a strictly weaker interval excitation condition than PE, in the sense that both the output-tracking and parameter estimation errors exponentially converge to zero. Furthermore, the composite adaptive law is also augmented to achieve finite/fixed-time parameter convergence in a time-synchronized manner. Simulation results are presented to verify our theoretical findings.
dc.language	en
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartof	IEEE Transactions on Aerospace and Electronic Systems
dc.relation.isbasedon	10.1109/TAES.2022.3194846
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0901 Aerospace Engineering, 0906 Electrical and Electronic Engineering, 0909 Geomatic Engineering
dc.subject.classification	Aerospace & Aeronautics
dc.title	Composite Adaptive Control for Anti-Unwinding Attitude Maneuvers: An Exponential Stability Result Without Persistent Excitation
dc.type	Journal Article
utslib.citation.volume	PP
utslib.for	0901 Aerospace Engineering
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0909 Geomatic Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2023-03-10T04:09:50Z
pubs.issue	99
pubs.publication-status	Published
pubs.volume	PP
utslib.citation.issue	99

Abstract:

This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking problem of a rigid body with uncertain inertia parameters, without the need for a persistent excitation (PE) condition. Specifically, a composite adaptive control scheme with guaranteed parameter convergence is proposed by integrating the dynamic regressor extension and mixing (DREM) technique into the dynamically scaled immersion and invariance adaptive control framework, wherein we modify the scaling factor so that the algorithm design does not involve any dynamic gains. To avoid the unwinding problem, a barrier function is introduced as the attitude error function, along with the establishment of two key algebraic properties for exponential stability analysis. Aiding by an linear time-varying filter, the scalar regressor of DREM is extended to generate an exciting counterpart. In this manner, the derived controller is shown to permit closed-loop exponential stability under a strictly weaker interval excitation condition than PE, in the sense that both the output-tracking and parameter estimation errors exponentially converge to zero. Furthermore, the composite adaptive law is also augmented to achieve finite/fixed-time parameter convergence in a time-synchronized manner. Simulation results are presented to verify our theoretical findings.

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http://hdl.handle.net/10453/166959