Dual-quaternion-based spacecraft pose tracking with a global exponential velocity observer
Qingqing Dang, Huichao Gui and Hao Wen
Abstract: This paper designed a six-DOF observer-based output-feedback controller using the I&I and hybrid system theory. The influence of nonlinear terms that hinder observer stability was suppressed by augmented observer dynamics and the dynamic scaling technique. A switching logic is introduced to overcome the topological obstruction of the attitude manifold. Strict Lyapunov analysis proved the global exponential stability of the proposed hybrid observer. Meanwhile, an output-feedback pose tracking scheme was derived by combining the observer with a full-state feedback proportional-derivative (PD) pose controller. It was shown that the resultant observer-controller system almost globally asymptotically stabilizes the pose tracking error to zero. Simulations of an asteroid observation operation demonstrated the application of the proposed method robustness against parametric uncertainties and measurement noises.
原文链接：https://arc.aiaa.org/doi/10.2514/1.G004302
