InforLorV4, Hal, Corpus, bibRecord, 003869

On the stability and stabilization of quaternion equilibria of rigid bodies

Identifieur interne : 003869 ( Hal/Corpus ); précédent : 003868; suivant : 003870

On the stability and stabilization of quaternion equilibria of rigid bodies

Auteurs : Rune Schlanbusch ; Antonio Loria ; P. J. Nicklasson

Source :

Automatica [ 0005-1098 ] ; 2012.

RBID : Hal:hal-00831433

Abstract

We study attitude control of rigid bodies on quaternion coordinates under three mathematically different perspectives, depending on how the system dynamics are assumed to evolve. In the first case, we suppose that one equilibrium point is chosen a priori and a continuous controller is used under the assumption that the rigid body always spins in the same direction. In the second case, we relax the assumption that the sense of rotation is constant. Finally, a third scenario is considered in which hybrid (switching) control is used to choose the direction in which to spin, that is, both equilibria are continuously considered with regard to less energy consumption. It is showed that each of three scenarios must be treated in a different theoretical setting. A comparative study in simulations is also provided.

Url:

https://hal.archives-ouvertes.fr/hal-00831433

DOI: 10.1016/j.automatica.2012.08.012

Links to Exploration step

Hal:hal-00831433

Le document en format XML

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<abstract xml:lang="en">We study attitude control of rigid bodies on quaternion coordinates under three mathematically different perspectives, depending on how the system dynamics are assumed to evolve. In the first case, we suppose that one equilibrium point is chosen a priori and a continuous controller is used under the assumption that the rigid body always spins in the same direction. In the second case, we relax the assumption that the sense of rotation is constant. Finally, a third scenario is considered in which hybrid (switching) control is used to choose the direction in which to spin, that is, both equilibria are continuously considered with regard to less energy consumption. It is showed that each of three scenarios must be treated in a different theoretical setting. A comparative study in simulations is also provided.</abstract>
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On the stability and stabilization of quaternion equilibria of rigid bodies

On the stability and stabilization of quaternion equilibria of rigid bodies

Source :

Abstract

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri