Tube-based attitude control of rigid-bodies with magnitude-bounded disturbances

This paper is concerned with the guaranteed cost control (GCC) problem of nonlinear rigid-body attitude systems subject to magnitude-bounded disturbances, for which a novel tube-based control framework is developed based on two independent aspects: nominal performance and disturbance attenuation. In the nominal case of no disturbances, a GCC method is proposed such that the nominal closed-loop system is asymptotically stable with the optimal performance. To achieve approximate performance in the case of disturbances, an auxiliary error control scheme is constructed for steering the original attitude system with disturbances to track the ideal trajectory that is generated in the nominal case. Simulation results are provided that highlight the guaranteed cost and disturbance attenuation properties of the proposed method.