This paper introduces a new class of finite-time feedback controllers for rigid-body attitude dynamics subject to full actuation. The control structure is Lyapunov-based and is designed to regulate the configuration from an arbitrary initial state to any prescribed final state within user-specified finite transfer-time. A salient feature here is that the synthesis of the control structure is explicit, i.e., given the transfer-time time, the feedback-gains are explicitly stated to satisfy the convergence specifications. A major contrast between this work and others in the literature is that instead of resorting to feedback-linearization (to get to the so-called normal form), our approach efficiently marries the process of designing time-varying feedback gains with the logarithmic Lyapunov function for attitude kinematics based on the Modified Rodrigues Parameters representation. Saliently, this finite-time solution extends nicely for accommodating trajectory tracking objectives and possesses robustness with respect to bounded external disturbance torques. Numerical simulations are performed to test and validate the performance and robustness features of the new control designs.

中文翻译：

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保证在指定的有限时间内收敛的新型姿态控制器

本文介绍了一类新的有限时间反馈控制器，该控制器用于受全驱动的刚体姿态动力学。控制结构是基于Lyapunov的，旨在在用户指定的有限传输时间内将配置从任意初始状态调整为任何规定的最终状态。这里的一个显着特征是控制结构的综合是明确的，即，给定传输时间，明确说明了反馈增益以满足收敛规范。这项工作与文献中的其他工作之间的主要区别在于，与其求助于反馈线性化（以获得所谓的正规形式），我们的方法有效地将设计随时间变化的反馈增益的过程与基于修正Rodrigues参数表示的姿态运动学的对数Lyapunov函数结合起来。显着地，该有限时间解决方案很好地扩展了用于适应轨迹跟踪目标的能力，并且对于有限的外部干扰扭矩具有鲁棒性。进行数值模拟以测试和验证新控制设计的性能和鲁棒性。