Attitude control based on the Lie-group structure of unit quaternions

被引：0

作者：

Han Dapeng ^{[1
]}

Wei Qing ^{[1
]}

Li Zexiang ^{[1
]}

机构：

[1] Natl Univ Def Technol, Sch Mechtron Engn & Automat, Changsha 410073, Peoples R China

来源：

PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 2 | 2007年

关键词：

attitude control; unit quaternion; Lie group;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on a new approach for the attitude control problem. The control laws exploit the Lie-group structure of unit quaternions. Stability analysis relies on an appropriate Lyapunov function. Set point control and tracking control are investigated respectively. Using this approach, not only design and analysis are simplified, but also global approximate exponential convergence is guaranteed. The control laws are demonstrated to be effective by simulation results. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4347101

引用

页码：326 / +

页数：2

共 18 条

[1]

ARMABEL P, 2000, P 2000 IEEE INT C RO, P4033

[2]

Boothby W.M., 1986, INTRO DIFFERENTIABLE

[3]

Bottema O., 1979, Theoretical Kinematics

[4]

BULLO F, 1995005 CIT CDS

[5]

BULLO F, 2005, 95010 CDS

[6] Stability considerations in quaternion attitude control using discontinuous Lyapunov functions [J].

Fragopoulos, D ;

Innocenti, M .

IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 2004, 151 (03) :253-258

[7] ON HOMOGENEOUS TRANSFORMS, QUATERNIONS, AND COMPUTATIONAL-EFFICIENCY [J].

FUNDA, J ;

TAYLOR, RH ;

PAUL, RP .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03) :382-388

[8] ROBUST ATTITUDE STABILIZATION OF SPACECRAFT USING NONLINEAR QUATERNION FEEDBACK [J].

JOSHI, SM ;

KELKAR, AG ;

WEN, JTY .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (10) :1800-1803

[9]

Kim MJ, 1996, J VISUAL COMP ANIMAT, V7, P43, DOI 10.1002/(SICI)1099-1778(199601)7:1<43::AID-VIS136>3.0.CO

[10]

2-T

← 1 2 →