InforLorV4, Hal, Curation, bibRecord, 003A47

PD+ attitude control of rigid bodies with improved performance

Identifieur interne : 003A47 ( Hal/Curation ); précédent : 003A46; suivant : 003A48

PD+ attitude control of rigid bodies with improved performance

Auteurs : Rune Schlanbusch [Norvège] ; Antonio Loria [France] ; P. J. Nicklasson [Norvège]

Source :

RBID : Hal:hal-00521521

Abstract

We address the problem of state feedback atti- tude control of a rigid body in quaternion coordinate space through a modified PD+ tracking controller. The control law ensures faster convergence to the desired operating point during attitude maneuver, while keeping the gains small for station keeping. A direct consequence is a drop in energy consumption when affected by sensor noise. More precisely, we show uniform asymptotic stability for the system without perturbations and uniform practical asymptotic stability in the presence of unknown, bounded input disturbances. Simulation results illustrate the performance improvement with respect to classic PD+ control, especially in the presence of input perturbations.

Url:

https://hal-supelec.archives-ouvertes.fr/hal-00521521

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :003A47

Links to Exploration step

Hal:hal-00521521

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">PD+ attitude control of rigid bodies with improved performance</title>
<author><name sortKey="Schlanbusch, Rune" sort="Schlanbusch, Rune" uniqKey="Schlanbusch R" first="Rune" last="Schlanbusch">Rune Schlanbusch</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>
<author><name sortKey="Loria, Antonio" sort="Loria, Antonio" uniqKey="Loria A" first="Antonio" last="Loria">Antonio Loria</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-1289" status="VALID"><idno type="RNSR">199812842X</idno>
<orgName>Laboratoire des signaux et systèmes</orgName>
<orgName type="acronym">L2S</orgName>
<desc><address><addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lss.supelec.fr/</ref>
</desc>
<listRelation><relation active="#struct-411575" type="direct"></relation>
<relation active="#struct-92966" type="direct"></relation>
<relation active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-411575" type="direct"><org type="institution" xml:id="struct-411575" status="VALID"><orgName>CentraleSupélec</orgName>
<desc><address><addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.centralesupelec.fr</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-92966" type="direct"><org type="institution" xml:id="struct-92966" status="VALID"><orgName>Université Paris-Sud - Paris 11</orgName>
<orgName type="acronym">UP11</orgName>
<desc><address><addrLine>Bâtiment 300 - 91405 Orsay cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.u-psud.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Nicklasson, P J" sort="Nicklasson, P J" uniqKey="Nicklasson P" first="P. 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>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:hal-00521521</idno>
<idno type="halId">hal-00521521</idno>
<idno type="halUri">https://hal-supelec.archives-ouvertes.fr/hal-00521521</idno>
<idno type="url">https://hal-supelec.archives-ouvertes.fr/hal-00521521</idno>
<date when="2010-12-16">2010-12-16</date>
<idno type="wicri:Area/Hal/Corpus">003A47</idno>
<idno type="wicri:Area/Hal/Curation">003A47</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">PD+ attitude control of rigid bodies with improved performance</title>
<author><name sortKey="Schlanbusch, Rune" sort="Schlanbusch, Rune" uniqKey="Schlanbusch R" first="Rune" last="Schlanbusch">Rune Schlanbusch</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>
<author><name sortKey="Loria, Antonio" sort="Loria, Antonio" uniqKey="Loria A" first="Antonio" last="Loria">Antonio Loria</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-1289" status="VALID"><idno type="RNSR">199812842X</idno>
<orgName>Laboratoire des signaux et systèmes</orgName>
<orgName type="acronym">L2S</orgName>
<desc><address><addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lss.supelec.fr/</ref>
</desc>
<listRelation><relation active="#struct-411575" type="direct"></relation>
<relation active="#struct-92966" type="direct"></relation>
<relation active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-411575" type="direct"><org type="institution" xml:id="struct-411575" status="VALID"><orgName>CentraleSupélec</orgName>
<desc><address><addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.centralesupelec.fr</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-92966" type="direct"><org type="institution" xml:id="struct-92966" status="VALID"><orgName>Université Paris-Sud - Paris 11</orgName>
<orgName type="acronym">UP11</orgName>
<desc><address><addrLine>Bâtiment 300 - 91405 Orsay cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.u-psud.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno>
<idno type="IdRef">02636817X</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Nicklasson, P J" sort="Nicklasson, P J" uniqKey="Nicklasson P" first="P. 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>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">We address the problem of state feedback atti- tude control of a rigid body in quaternion coordinate space through a modified PD+ tracking controller. The control law ensures faster convergence to the desired operating point during attitude maneuver, while keeping the gains small for station keeping. A direct consequence is a drop in energy consumption when affected by sensor noise. More precisely, we show uniform asymptotic stability for the system without perturbations and uniform practical asymptotic stability in the presence of unknown, bounded input disturbances. Simulation results illustrate the performance improvement with respect to classic PD+ control, especially in the presence of input perturbations.</div>
</front>
</TEI>
<hal api="V3"><titleStmt><title xml:lang="en">PD+ attitude control of rigid bodies with improved performance</title>
<author role="aut"><persName><forename type="first">Rune</forename>
<surname>Schlanbusch</surname>
</persName>
<email></email>
<idno type="halauthor">529680</idno>
<affiliation ref="#struct-50843"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
<idno type="halauthor">459345</idno>
<affiliation ref="#struct-1289"></affiliation>
</author>
<author role="aut"><persName><forename type="first">P. J.</forename>
<surname>Nicklasson</surname>
</persName>
<email></email>
<idno type="halauthor">529681</idno>
<affiliation ref="#struct-50843"></affiliation>
</author>
<editor role="depositor"><persName><forename>Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
</editor>
</titleStmt>
<editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2011-03-28 18:00:46</date>
<date type="whenModified">2016-03-22 01:25:41</date>
<date type="whenReleased">2011-03-29 09:05:29</date>
<date type="whenProduced">2010-12-16</date>
<date type="whenEndEmbargoed">2011-03-28</date>
<ref type="file" target="https://hal-supelec.archives-ouvertes.fr/hal-00521521/document"><date notBefore="2011-03-28"></date>
</ref>
<ref type="file" subtype="greenPublisher" n="1" target="https://hal-supelec.archives-ouvertes.fr/hal-00521521/file/CDC2010-1-Rune.pdf"><date notBefore="2011-03-28"></date>
</ref>
</edition>
<respStmt><resp>contributor</resp>
<name key="147168"><persName><forename>Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
</name>
</respStmt>
</editionStmt>
<publicationStmt><distributor>CCSD</distributor>
<idno type="halId">hal-00521521</idno>
<idno type="halUri">https://hal-supelec.archives-ouvertes.fr/hal-00521521</idno>
<idno type="halBibtex">schlanbusch:hal-00521521</idno>
<idno type="halRefHtml">49th IEEE Conference on Decision Control, Dec 2010, United States. pp.7069-7074, 2010</idno>
<idno type="halRef">49th IEEE Conference on Decision Control, Dec 2010, United States. pp.7069-7074, 2010</idno>
</publicationStmt>
<seriesStmt><idno type="stamp" n="L2S">Laboratoire des signaux et systèmes</idno>
<idno type="stamp" n="SUPELEC">SUPELEC</idno>
<idno type="stamp" n="SUP_LSS" p="CENTRALESUPELEC">Laboratoire des Signaux et Systèmes</idno>
<idno type="stamp" n="SUP_SYSTEMES" p="CENTRALESUPELEC">Pôle Systèmes</idno>
<idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
<idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
<idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
</seriesStmt>
<notesStmt><note type="audience" n="2">International</note>
<note type="invited" n="0">No</note>
<note type="popular" n="0">No</note>
<note type="peer" n="1">Yes</note>
<note type="proceedings" n="1">Yes</note>
</notesStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">PD+ attitude control of rigid bodies with improved performance</title>
<author role="aut"><persName><forename type="first">Rune</forename>
<surname>Schlanbusch</surname>
</persName>
<idno type="halAuthorId">529680</idno>
<affiliation ref="#struct-50843"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
<idno type="halAuthorId">459345</idno>
<affiliation ref="#struct-1289"></affiliation>
</author>
<author role="aut"><persName><forename type="first">P. J.</forename>
<surname>Nicklasson</surname>
</persName>
<idno type="halAuthorId">529681</idno>
<affiliation ref="#struct-50843"></affiliation>
</author>
</analytic>
<monogr><title level="m">Proceedings of the 49th IEEE Conf. Decision Control</title>
<meeting><title>49th IEEE Conference on Decision Control</title>
<date type="start">2010-12-16</date>
<country key="US">United States</country>
</meeting>
<imprint><biblScope unit="pp">7069-7074</biblScope>
<date type="datePub">2010-12-01</date>
</imprint>
</monogr>
</biblStruct>
</sourceDesc>
<profileDesc><langUsage><language ident="en">English</language>
</langUsage>
<textClass><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
<classCode scheme="halTypology" n="COMM">Conference papers</classCode>
</textClass>
<abstract xml:lang="en">We address the problem of state feedback atti- tude control of a rigid body in quaternion coordinate space through a modified PD+ tracking controller. The control law ensures faster convergence to the desired operating point during attitude maneuver, while keeping the gains small for station keeping. A direct consequence is a drop in energy consumption when affected by sensor noise. More precisely, we show uniform asymptotic stability for the system without perturbations and uniform practical asymptotic stability in the presence of unknown, bounded input disturbances. Simulation results illustrate the performance improvement with respect to classic PD+ control, especially in the presence of input perturbations.</abstract>
</profileDesc>
</hal>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Hal/Curation

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003A47 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Hal/Curation/biblio.hfd -nk 003A47 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Wicri/Lorraine
   |area=    InforLorV4
   |flux=    Hal
   |étape=   Curation
   |type=    RBID
   |clé=     Hal:hal-00521521
   |texte=   PD+ attitude control of rigid bodies with improved performance
}}

This area was generated with Dilib version V0.6.33.
Data generation: Mon Jun 10 21:56:28 2019. Site generation: Fri Feb 25 15:29:27 2022

	Serveur d'exploration sur la recherche en informatique en Lorraine
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur la recherche en informatique en Lorraine

PD+ attitude control of rigid bodies with improved performance

PD+ attitude control of rigid bodies with improved performance

Source :

Abstract

Links toward previous steps (curation, corpus...)

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