Kinematic Integral Attitude Tracking under Input Saturation: Application to Ascent Guidance

SERVIDIA P.; GIRIBET J. I.; ESPAÑA M.

IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Año: 2011

0885-8985

An improved global attitude tracking controller under control input saturation is proposed, the main upgrade being the introduction of an integral term that determines a PID-like sliding surface for a robust variable structure controller under control in- put saturation with time-varying gain as previously considered in the literature. The resulting attitude control law also has time varing gains, and may be adapted through a convenient rede􏰁nition of the attitude error measure in order to consider only the longitudinal attitude error leaving uncoupled the roll motion. The latter implies that the roll angle might have a di􏰀erent control strategy or even no control, to consider a failure scenario or a simpler control con􏰁guration. A particular ascent guidance law is also presented to evaluate the controller in a guidance and control loop of a suborbital experimental vehicle which is considered without roll control system as a worst case scenario. The stability analysis is performed by using the Barbalat lemma to handle this non-autonomous nonlinear system through a Lyapunov-like approach.