Responses to the comments

DearReviewers:Iwanttoexpressmyverydeepappreciation,andtheappreciationofallofus,evaluableandveryhelpfulforrevisingandimprovingourpaper,aswellastheimportantguidingtoourresearches.----------------------------------------------------------------------------------------------------------------------Thefollowingisapoint-to-pointresponsetothereviewers’ificationmarkedinredinrevisedversion.------------------------------ResponsestoReviewer#2ReviewComments:Inthispaper,theauthorsproposeanextendedstateobserverbasedThisproblemisdual-loopcontrollertocontrolrigidspacecraftattitudewithconsiderationofinertiauncertainties,ar,therearesomedoubtsandtyposinthispresentpaperasfollows:[1]InSections1and3,theauthorssay“externalstateobserver”shouldbe“extendedstateobserver”,se:Thephrase"externalstateobserver"hasbeenchangedto"extendedstateobserver"inourrevisedpaper.[2]InEq.(1),whatdoestheωstandfor?Response:Theoperatorωequation(3).andqdenotetheskew-symmetricmatrices,whichisgivenin[3]AccordingtoEqs.(5)and(10),thereexistsomemistakesintheFig.1,se:Thanksforyoursuggestion;wehavecorrectedthemistakeintheFig.1.[4]AfterEq.(10),theauthorssay“…theestimationofangularvelocityω…”,whichisunreasonabledescriptionbasedonEq.(5).Response:Rightyouare!Wehavetakenyouradvice,thephrase"…theestimationofangularvelocityω…"hasbeenchangedto"…theestimationofangularvelocityerrorω…"inourrevisedpaper.

[5]IntheAbstract,theauthorssaythatthedual-loopcontrollerisdesignedusingtheslidingmodemethod,butinSection3.2,onderthecontrolmethodisslidingmodecontrolornotinthispaper,se:Thecontrollawisdesignedbasedonatwo-loopstructureinwhicerloopcontrollerisdesignedtotracktheattitudecommandandgeneratelimitedvirtualangularvelocitycommandfortheinnerloop,andtheinnerloopcontrollerisdesignedtotrackthecommandofouterloopinthepresenceofuncertaintiesandcontrolconstraints.[6]Innumericalsimulationssection,thesimulationresultsshouldgivemoredetaileddescription,becausetheresponsetimeofCBSisbetterthanCDLinFig.1,whetheristosaythatthemeaningofthisworkisquestionable?Response:Thanksforyoursuggestion;wehavegivenmoreghtheresponsetimeforCBSissmallerinFig.2,theangularvelocityisbeyondtherangeofangularvelocitylimitationforCBScontrollawinFig.3,rkismotivatedbyconstrainedadaptivebacksteppingmethod,andseekstoreducetheinfluenceofcorrelationbetweentheringsandkeepthestateswithinthelimitations.[7]se:Thanksforyoursuggestion;rewrittenthecontributionofthisworksinSection1.------------------------------ResponsestoReviewer#2ReviewComments:[1]Theauthorsshouldcheckwrongwords:thefollowingsarejustexamples.p4.L2.:ational-->rotationalmotion?p7.L4.:theattitudemanueve-->theattitudemaneuver?Response:Weareverysorryforourincorrectwriting,thanksforpointingoutourmistake;wehavecorrectedthewrongwordsinourrevisedpaper.

[2]Dse:uethatthedual-loopcontroltechniquesarewidelyusedtocontrolrigidbodymotions,study,themaincontributionofusisproposingaconstraineddual-loopattitudecontrolscheme,whichcombinescommandfilteredapproachandextendedstateobserver,forrigidspaedwiththeconstrainedadaptivebacksteppingcontrolmethod,theconstraineddual-loopcontroldesignreducestheinfluenceofcorrelationbetweentheringsandkeepsthestateswithinthelimitations.[3]Insimulation,horshavepresumes,se:hefrequencyoftheenvironmentaldisturbanceisnotrealistic,uethatthefrequencyofdisturbancemayledtothefluctuatingresponse,however,inthisstudy,theenvironmentaldisturbancetorqueisverysmall,ithaslesseffectonthefluctuatingresponse,ivesimulationswerealsodoneusingdifferentdisturbanceinputs,suchasremovethedisturbance,theseresultsshowthatthefluctuatingr,thepossibilityoftheunrealistiofthesimulationcase,thecontrollerparameterssettingunchanged,therefore,weattributethefluctuatingresponseforCBSmethodtolowactuatorbandwidth.------------------------------ResponsestoReviewer#4ReviewComments:Theinnovationofthepaperiswellemphasized;theorganizationofthepaperisgood,butthestateoftheartandthecomparisonwithotherpapers'derthatthepapercanbeacceptedforpublicationonlyafterrevision(seebelow).

Suggestionsforthepaperimproving:teoftheartmustbeimproved;morepapersdealingwiththesubjectofthisworkmustbediscussed,timportantdrawbackofthepaperisthelackofacomparisonbetweense:takenyouradvice,andmorepapers,whichdealingwiththesubjectofthiswork,,tothebestofauthors’knowledge,onlyafewpapers[14,15,16]researchtheproblemofatttrolinputsaturationcannotbeachievedduetothedesignofBarrierLyapunovfunctionin[14](RefertoRemark3in[13]).Consideringtheangularvelocityandcontrolinputconstraints,anonlinearquaternionfeedbackcontrollogicisproposedforthespacecrafteigenaxisrotationsin[15]andaconstrainedoptimalPID(Proportional-Integral-Derivative)-likecontrollerispresentedin[16],however,bothofthemrequirethatthenominaloff-diagonaltermsoftheinertiamatrixarezeros,ivecomparisonsimulationforthecontrollerin[15]werealsodonewiththenominaloff-diagonaltermsoftheinertiamatrixarezeros,however,theconvergencetimefor[15]ismuchlongerthantheconvergencetimefortheproposedcontroller,strainedadaptivebacksteppingmethod[19]iswidelyusedinaircraftcontrolwir,note,weseektoreducetheinfluenceoelyyours,学术资源大全新上线欢迎各位青椒访问学习所有资源免费下载有疑问可在反馈至留言板网址☞（学术资源大全首字母即为网址域名）