THE ATTITUDE-CONTROL PROBLEM

被引:750
作者
WEN, JTY [1 ]
KREUTZDELGADO, K [1 ]
机构
[1] UNIV CALIF SAN DIEGO,DEPT APPL MECH & ENGN SCI,LA JOLLA,CA 92093
关键词
D O I
10.1109/9.90228
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A general framework for the analysis of the attitude tracking control problem for a rigid body is presented in this paper. In contrast to the approach that feedback linearizes the attitude dynamics to a double integrator form with respect to some minimal representation of the orientation, a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lya-punov function candidate whose form is motivated by the consideration of 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.
引用
收藏
页码:1148 / 1162
页数:15
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