Further passivity results for the attitude control problem

被引：257

作者：

Tsiotras, P ^{[1
]}

机构：

[1] Univ Virginia, Dept Mech Aerosp & Nucl Engn, Charlottesville, VA 22903 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1998年 / 43卷 / 11期

基金：

美国国家科学基金会;

关键词：

attitude control; Caley-Rodrigues parameters; modified Rodrigues parameters; passivity; stabilization;

D O I：

10.1109/9.728877

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters. In particular, we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties. The results of this paper extend similar results for the case of the (nonminimal) Euler parameters.

引用

页码：1597 / 1600

页数：4

共 15 条

[1]

Arimoto S., 1994, AS CONTR C TOK JAP J, P633

[2]

BULLO F, 1997, 97001 CIT CDS

[3] PASSIVITY-BASED ADAPTIVE ATTITUDE-CONTROL OF A RIGID SPACECRAFT [J].

EGELAND, O ;

GODHAVN, JM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (04) :842-846

[4]

FJELLSTAD OE, 1994, PROCEEDINGS OF THE THIRD IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3, P857, DOI 10.1109/CCA.1994.381209

[5] STABILITY RESULTS FOR NONLINEAR FEEDBACK-SYSTEMS [J].

HILL, DJ ;

MOYLAN, PJ .

AUTOMATICA, 1977, 13 (04) :377-382

[6]

Khalil HK., 1992, NONLINEAR SYSTEMS

[7]

Kristic M., 1995, Nonlinear and Adaptive Control Design

[8] Attitude control without angular velocity measurement: A passivity approach [J].

Lizarralde, F ;

Wen, JT .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1996, 41 (03) :468-472

[9]

ORTEGA R, 1994, IEEE DECIS CONTR P, P381, DOI 10.1109/CDC.1994.410898

[10]

SHUSTER MD, 1993, J ASTRONAUT SCI, V41, P439

← 1 2 →