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Robust Adaptive Attitude Synchronization of Uncertain Rigid Bodies on Special Orthogonal Group with Communication Delays and Gyro Biases

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Abstract

The paper proposes an attitude synchronization algorithm of rigid bodies on Special Orthogonal Group SO(3), with parameter uncertainties, external disturbances, gyro biases and communication delays. A set of two-order linear filters are introduced to cope with discontinuous communication delays, and only attitude information is required to be exchanged between rigid bodies. Then a set of gyro bias estimators are constructed with exponential convergence rates in the constant bias case and can also deal with time-varying gyro biases. Besides, a novel attractive manifold control method is also proposed so that the parameter estimation error terms can converge to zeros independent of persistent excitation condition. The proposed attractive manifold control method can be also robust toward external disturbances. The obtained control inputs are continuous and ensure the control performance of the closed-loop system, in the presence of discontinuous communication delays, external disturbances, parameter uncertainties and gyro biases. The effectiveness of the proposed algorithm is verified in the numerical simulations.

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Authors and Affiliations

  1. Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, 100191, China

    Xuhui Lu & Yingmin Jia

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  1. Xuhui Lu
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  2. Yingmin Jia
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Correspondence to Yingmin Jia.

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This work was supported by the NSFC (61327807,61521091, 61520106010, 61134005) and the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201).

Xuhui Lu received his B.S. degree in Automation from Beihang University, China in 2012. He also received his Ph.D. degree in Control Theory and Control Engineering from Beihang University, China in 2019. His research interests include robust control and robotic control.

Yingmin Jia received his B.S. degree in control theory from Shandong University, China in 1982, and his M.S. and Ph.D. degrees both in control theory and applications from Beihang University, China, in 1990 and 1993, respectively. He joined Beihang University in 1993, where he is currently a professor in the School of Automation Science and Electrical Engineering. His main interests include robust control and intelligent control.

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Lu, X., Jia, Y. Robust Adaptive Attitude Synchronization of Uncertain Rigid Bodies on Special Orthogonal Group with Communication Delays and Gyro Biases. Int. J. Control Autom. Syst. 17, 2769–2783 (2019). https://doi.org/10.1007/s12555-018-0623-7

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  • DOI: https://doi.org/10.1007/s12555-018-0623-7

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