Spacecraft Attitude Tracking with Guaranteed Performance Bounds

摘要

A result on the filtered error for attitude-control problems has been presented, demonstrating that if the filtered error is ultimately upper bounded, then so are the quaternion and body rate with bounds proportional to the filtered error ultimate upper bound. Making use of this result, bounds on the steady-state attitude and body-rate errors are derived for the spacecraft attitude tracking problem in the presence of model uncertainties and measurement errors. Both nonadaptive and adaptive control have been addressed. The resulting bounds can provide useful tools for attitude-control system designers to assist in gain selection when specifications on steady-state attitude errors need to be satisfied.