Summary The attitude tracking of a rigid spacecraft is approached in the presence uncertain inertias, unknown disturbances, and sudden actuator faults. First, novel integral terminal sliding mode (ITSM) designed such that motion realizes action quaternion‐based nonlinear proportional‐derivative controller. More precisely, on ITSM, dynamics behave equivalently to an uncertainty‐free system, finite‐time convergence error achieved almost globally. A basic ITSM controller then ensure from onset...

The attitude tracking of a rigid body without angular velocity measurements is addressed. A continuous observer with fractional power functions proposed to estimate the via quaternion information. gains can be properly tuned according homogeneous method such that estimation error system uniformly almost globally finite-time stable, irrespective control inputs. To achieve output feedback control, quaternion-based nonlinear proportional-derivative controller using full-state designed first,...

The concurrent position and attitude (pose) tracking of a rigid spacecraft is addressed in the presence actuator faults, mass inertia uncertainties, unknown external disturbances. control design relies on novel hybrid dual-quaternion integral sliding mode that incorporates hysteretic switching to avoid quaternion unwinding problem. On mode, pose error globally finite-time convergent. resultant law has simple structure consists nominal input, which realizes fault-free uncertainty-free case,...

This paper addresses the control of spacecraft hovering about uniformly rotating asteroids using only position measurements. The highly uncertain dynamical environments and absence velocity feedback make it a challenging issue. To overcome difficulties, an extended state observer is designed to estimate perturbations simultaneously. It ensures ultimately bounded estimation errors, irrespective law applied. A velocity-free controller then obtained by driving full-state with estimates from...

This paper addresses the coupled position- and attitude-tracking control of a rigid spacecraft in proximity asteroids, where multiple, complicated, unknown perturbations resulting from highly uncertain environment must be dealt with. Dual quaternions are used to formulate tracking error dynamics compact manner for unified translational rotational law design. A robust adaptive scheme is then developed an originally model-dependent controller by introducing algorithm dynamically adjust...

The spacecraft attitude estimation is addressed in the framework of invariant Kalman filtering, which rests on invariance system dynamics and output map with respect to appropriate coordinate transformations. available measurements are assumed be angular velocity from three-axis gyroscopes vector sensors. Two continuous-discrete quaternion filters developed state errors defined inertial frame body frame, respectively. former termed right-invariant extended filter latter left-invariant...

The attitude-tracking control of a rigid spacecraft using only two internal torques is addressed. First, given reference trajectory classified as feasible or unfeasible according to the preservation violation momentum conservation law. dynamics error then formulated on attitude manifold SO(3) with angular actuators inputs. Given Lie group structure SO(3), transverse function approach utilized design an law ensuring asymptotically ultimately bounded tracking for any trajectory. For...

Concurrent position and attitude (pose) tracking of a rigid spacecraft is addressed when there are no (both linear angular) velocity measurements, only pose information available. A second-order observer with simple structure designed to provide estimates. It consists one part that mimics the six-degrees-of-freedom (6DOF) kinematics dynamics correction driven by error between measurements The resultant estimates then utilized construct velocity-free controller proportional-derivative plus...