Hybrid attitude tracking of output feedback controlled rigid bodies
Identifieur interne : 001F76 ( Main/Exploration ); précédent : 001F75; suivant : 001F77Hybrid attitude tracking of output feedback controlled rigid bodies
Auteurs : Rune Schlanbusch [Norvège] ; Esten Grotli [Norvège] ; Antonio Loria [France] ; P. J. Nicklasson [Norvège]Source :
Abstract
n this paper we address the problem of output feedback attitude control of a rigid body in quaternion coordinate space through a PD+ based tracking controller using switching technique to obtain stability for all initial values. Assumptions on earlier results where either the initial state is considered bounded, or the attitude error for all time is less than 180 degrees, is removed by applying switching technique, also including hysteresis for robust stability. More precisely, we show uniform asymptotic stability in the large of a set containing the origin for the closed-loop system in the presence of unknown, bounded input disturbances. Simulation results are presented to verify our theoretical findings, showing that the system stabilizes as expected, even with high initial estimated velocity error
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DOI: 10.1109/CDC.2011.6161517
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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">10.1109/CDC.2011.6161517</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">n this paper we address the problem of output feedback attitude control of a rigid body in quaternion coordinate space through a PD+ based tracking controller using switching technique to obtain stability for all initial values. Assumptions on earlier results where either the initial state is considered bounded, or the attitude error for all time is less than 180 degrees, is removed by applying switching technique, also including hysteresis for robust stability. More precisely, we show uniform asymptotic stability in the large of a set containing the origin for the closed-loop system in the presence of unknown, bounded input disturbances. Simulation results are presented to verify our theoretical findings, showing that the system stabilizes as expected, even with high initial estimated velocity error</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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