1,134 research outputs found
Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions
A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme
Global Exponential Attitude Tracking Controls on SO(3)
This paper presents four types of tracking control systems for the attitude
dynamics of a rigid body. First, a smooth control system is constructed to
track a given desired attitude trajectory, while guaranteeing almost
semi-global exponential stability. It is extended to achieve global exponential
stability by using a hybrid control scheme based on multiple configuration
error functions. They are further extended to obtain robustness with respect to
a fixed disturbance using an integral term. The resulting robust, global
exponential stability for attitude tracking is the unique contribution of this
paper, and these are developed directly on the special orthogonal group to
avoid singularities of local coordinates, or ambiguities associated with
quaternions. The desirable features are illustrated by numerical examples
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