The attitude control problem

A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the con...

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Veröffentlicht in:IEEE transactions on automatic control 1991-10, Vol.36 (10), p.1148-1162
Hauptverfasser: Wen, J.T.-Y., Kreutz-Delgado, K.
Format: Artikel
Sprache:eng
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Zusammenfassung:A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework.< >
ISSN:0018-9286
1558-2523
DOI:10.1109/9.90228