A passivity approach to attitude stabilization using nonredundant kinematic parameterizations

The author previously (Symposium on Automatic Control in Aerospace, p. 316-21, 1994) showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant, three-dimensional set of kinematic parameters. In this paper it is shown,...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 1; pp. 515 - 520 vol.1
Main Author Tsiotras, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Angular velocity
Attitude control
Control systems
Equations
Feedback control
Kinematics
Linear feedback control systems
Lyapunov method
Motion control
Velocity measurement
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ISBN0780326857
9780780326859
ISSN0191-2216
DOI10.1109/CDC.1995.478944

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Summary:The author previously (Symposium on Automatic Control in Aerospace, p. 316-21, 1994) showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant, three-dimensional set of kinematic parameters. In this paper it is shown, using the inherent passivity properties of the system, that these results can be extended to stabilizing control laws without any angular velocity measurements. A numerical example demonstrates the theoretical results.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.478944