On the stability and stabilization of quaternion equilibria of rigid bodies
Identifieur interne : 001C72 ( Main/Exploration ); précédent : 001C71; suivant : 001C73On the stability and stabilization of quaternion equilibria of rigid bodies
Auteurs : Rune Schlanbusch [Norvège] ; Antonio Loria [France] ; P. J. Nicklasson [Norvège]Source :
- Automatica [ 0005-1098 ] ; 2012.
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:
DOI: 10.1016/j.automatica.2012.08.012
Affiliations:
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Nicklasson</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50843" status="VALID"><orgName>Narvik University College</orgName><desc><address><country key="NO"></country></address></desc><listRelation><relation active="#struct-301165" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301165" type="direct"><org type="institution" xml:id="struct-301165" status="VALID"><orgName>Narvik University College</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Norvège</country></affiliation></author></analytic><idno type="DOI">10.1016/j.automatica.2012.08.012</idno><series><title level="j">Automatica</title><idno type="ISSN">0005-1098</idno><imprint><date type="datePub">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="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.</div></front></TEI><affiliations><list><country><li>France</li><li>Norvège</li></country></list><tree><country name="Norvège"><noRegion><name sortKey="Schlanbusch, Rune" sort="Schlanbusch, Rune" uniqKey="Schlanbusch R" first="Rune" last="Schlanbusch">Rune Schlanbusch</name></noRegion><name sortKey="Nicklasson, P J" sort="Nicklasson, P J" uniqKey="Nicklasson P" first="P. J." last="Nicklasson">P. J. Nicklasson</name></country><country name="France"><noRegion><name sortKey="Loria, Antonio" sort="Loria, Antonio" uniqKey="Loria A" first="Antonio" last="Loria">Antonio Loria</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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