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Structured model-following neuro-adaptive design for attitude maneuver of rigid bodies

Rajasekaran, J and Chunodkar, A and Padhi, Radhakant (2009) Structured model-following neuro-adaptive design for attitude maneuver of rigid bodies. In: Control Engineering Practice, 17 (6). pp. 676-689.

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Abstract

A new structured model-following adaptive approach is presented in this paper to achieve large attitude maneuvers of rigid bodies. First, a nominal controller is designed using the dynamic inversion philosophy. Next, a neuro- adaptive design is proposed to augment the nominal design in order to assure robust performance in the presence of parameter inaccuracies as well as unknown constant external disturbances. The structured approach proposed in this paper (where kinematic and dynamic equations are handled separately), reduces the complexity of the controller structure. From simulation studies, this adaptive controller is found to be very effective in assuring robust performance.

Item Type: Journal Article
Additional Information: Copyright of this article belongs to Elsevier Science.
Keywords: Attitude maneuver;Rigid body control;Modified;Rodrigues parameters;Dynamic inversion;Neuro-adaptive design
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 11 Dec 2009 10:15
Last Modified: 19 Sep 2010 05:34
URI: http://eprints.iisc.ernet.in/id/eprint/20735

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