Geometry and inverse optimality in global attitude stabilization

被引：51

作者：

Bharadwaj, S ^{[1
]}

Osipchuk, M ^{[1
]}

Mease, KD ^{[1
]}

Park, FC ^{[1
]}

机构：

[1] Univ Calif Irvine, Dept Mech & Aerosp Engn, Irvine, CA 92697 USA

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 1998年 / 21卷 / 06期

关键词：

D O I：

10.2514/2.4327

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

The problem of globally stabilizing the attitude of a rigid body is considered. Topological and geometric properties of the space of rotations relevant to the stabilization problem are discussed. Chevalley's exponential coordinates for a Lie group are used to represent points in this space. An appropriate attitude error is formulated and used for control design. A control Lyapunov function approach is used to design globally stabilizing feedback laws that have desirable optimality properties. Their performance is compared to the performance of previously developed proportional-derivative-type control laws. The new control laws achieve the same or greater stabilization rate with less control effort. Special issues in the Lyapunov stability proofs related to the topology of the space of rotations are identified and resolved. The simpler problem of stabilization on the space of planar rotations is treated throughout the paper to provide insight.

引用

页码：930 / 939

页数：10

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