Hybrid attitude tracking of rigid bodies without angular velocity measurement
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 co...
Gespeichert in:
Veröffentlicht in: | Systems & control letters 2012-04, Vol.61 (4), p.595-601 |
---|---|
Hauptverfasser: | , , , |
Format: | Artikel |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
Zusammenfassung: | 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. |
---|---|
ISSN: | 0167-6911 1872-7956 |
DOI: | 10.1016/j.sysconle.2012.01.008 |