engleski

Rigid body attitude control with complete rejection of unknown external disturbances

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.

rigid body control; disturbance rejection; integral sliding mode control; sliding PID control

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