Control of uncertain perturbed rigid body dynamics
by
Hebertt Sira Ramirez
Cinvestav IPN, Av. IPN No. 2508, Dept. Ing. Electrica, Secc. Mecatronica, Colonia San Pedro Zacatenco, AP 14740, 07300 Mexico D.F., Mexico
Coauthors: H. Sira Ramirez and M. Fliess

The unknown constant principal moments of inertia of a rigid body dynamics perturbed by an unknown constant moment vector are shown to be linearly identifiable. A very fast, closed loop, parameter identification algorithm, represented by a computation formula, is developed. The parameter identification complements a suitable linearizing certainty equivalence controller with integral action achieving stabilization, or de-tumbling, of the perturbed rigid body angular velocities. The proposed method, which is an extension of an algebraic approach to parameter identification in linear systems, proposed by the authors in [1] is found to be robust with respect to zero mean stochastic perturbations affecting the inputs and the state measurements.

[1] M. Fliess and H. Sira-Ramirez, ``An algebraic framework for linear identification" ESAIM: Control, Optimization and Calculus of Variations, Vol 9, pp. 151-168, January 2003.

Date received: December 2, 2003

Copyright © 2003 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # cakt-10.