Hybrid attitude tracking of rigid bodies without angular velocity measurement
Identifieur interne : 001C82 ( Main/Exploration ); précédent : 001C81; suivant : 001C83Hybrid attitude tracking of rigid bodies without angular velocity measurement
Auteurs : Rune Schlanbusch [Norvège] ; Esten Grotli [Norvège] ; Antonio Loria [France] ; P. J. Nicklasson [Norvège]Source :
Abstract
In this paper we address the problem of output-feedback attitude control of a rigid body in quaternion-coordinate space through a hybrid (switching) PD+ based tracking controller; we establish stability for all initial values in a compact subset which may be arbitrarily enlarged by increasing the control gains. Assumptions used in the literature such as supposing that the initial states lay in a determined compact set or that the attitude error norm is smaller than π rad for all time, are removed by including a switching law. Simulation results are presented to corroborate our theoretical findings, showing that the system stabilises as expected, even when the initial estimated velocity error is large.
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DOI: 10.1016/j.sysconle.2012.01.008
Affiliations:
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J." last="Nicklasson">P. J. 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.sysconle.2012.01.008</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper we address the problem of output-feedback attitude control of a rigid body in quaternion-coordinate space through a hybrid (switching) PD+ based tracking controller; we establish stability for all initial values in a compact subset which may be arbitrarily enlarged by increasing the control gains. Assumptions used in the literature such as supposing that the initial states lay in a determined compact set or that the attitude error norm is smaller than π rad for all time, are removed by including a switching law. Simulation results are presented to corroborate our theoretical findings, showing that the system stabilises as expected, even when the initial estimated velocity error is large.</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="Grotli, Esten" sort="Grotli, Esten" uniqKey="Grotli E" first="Esten" last="Grotli">Esten Grotli</name><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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