Internal model control-based adaptive attitude tracking

Ahmed Al-Garni*, Ayman Kassem, Muhammad Shafiq, Rihan Ahmed

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


The attitude of a spacecraft is its orientation in space. The orientation is with respect to a particular reference like the Earth and Sun [1]. The spacecraft is considered to be a rigid body whose attitude can be described by two sets of equations, namely, the kinematics equation, which relates the time derivatives of the orientation angles to the an- gular velocity vector and the dynamics equation, which describes the time evolution of the angular velocity vector [2, 3]. Various parameterizations of the attitude exist to represent the orientation angles. A comprehensive survey of attitude representations is given in [4]. The attitude control problem was first presented in the literature in [5]. A general procedure for the design and analysis of a three-axis, large-angle attitude control system was developed based on properties common to all attitude control systems. In [6], a general framework is prepared for the analysis of attitude tracking control of a rigid body using the non- singular unit quaternion representation. An adaptive tracking control scheme wherein the unknown spacecraft inertia matrix is compensated using linear parameterization is discussed in [7]. Reference [8] proposes an adaptive attitude tracking controller that identifies the inertia matrix via periodic command signals. Reference [9] discusses the adaptive attitude tracking control using synthesized velocity from attitude measurements by incorporating a velocity filter formulation.

Original languageEnglish
Title of host publicationRobot Motion and Control 2007
EditorsKrzysztof Kozlowski
Number of pages10
Publication statusPublished - 2007

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences


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