@article{Ma2017, 
author = {Xi Ma and Fuchun Sun and Hongbo Li and Bing He},
title = {Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input},
year = {2017},
journal = {Tsinghua Science and Technology},
volume = {22},
number = {1},
pages = {83-91},
keywords = {attitude control, inertial uncertainty, angular velocity-free measurement, saturation input, finite-time observer, sliding-mode control},
url = {https://www.sciopen.com/article/10.1109/TST.2017.7830898},
doi = {10.1109/TST.2017.7830898},
abstract = {In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty, bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia, and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol.}
}