[en] This paper provides analytical solutions to the closed-loop kinematics of two almost globally exponentially stabilizing attitude control laws on the special orthogonal group SO(n). By studying the general case we give a uniform treatment to the cases of SO(2) and SO(3), which are the most interesting dimensions for application purposes. Working directly with rotation matrices in the case of SO(3) allows us to avoid certain complications which may arise when using local and global many-to-one parameterizations. The analytical solutions provide insight into the transient behaviour of the system and are of theoretical value since they can be used to prove almost global attractiveness of the identity matrix. The practical usefulness of analytical solutions in problems of continuous time actuation subject to piece-wise unavailable or discrete time sensing are illustrated by numerical examples.
Disciplines :
Ingénierie, informatique & technologie: Multidisciplinaire, généralités & autres
Auteur, co-auteur :
Markdahl, J.
THUNBERG, Johan ; University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Hoppe, J.
Hu, X.
Co-auteurs externes :
yes
Langue du document :
Anglais
Titre :
Analytical solutions to feedback systems on the special orthogonal group SO(n)
Date de publication/diffusion :
2013
Nom de la manifestation :
52nd Annual Conference on Decision and Control
Lieu de la manifestation :
Firenze, Italie
Date de la manifestation :
10-13 December, 2013
Titre de l'ouvrage principal :
the proceeding of the 52nd Annual Conference on Decision and Control
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