Controller Class for Rigid Body Tracking on SO(3)

• 成果类型: Article
• 署名作者: Akhtar, Adeel; Waslander, Steven L.
• 署名单位: University of Toronto
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3008295
• 发表日期: 2021
• 页码: 2234-2241
• 关键词: Attitude control; Algebra; Aerospace electronics; Mathematical model; Adaptive control; MANIFOLDS; trajectory; Attitude control; control theory; coordinate free control; fully actuated system; geometric control

摘要

In this article, we propose a novel family of Lie algebra valued functions F-R on special orthogonal group SO(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family F-R form a controller class C-R. This novel controller class C-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class C-R.