Reference : A geodesic feedback law to decouple the full and reduced attitude
Scientific journals : Article
Engineering, computing & technology : Electrical & electronics engineering
Computational Sciences
http://hdl.handle.net/10993/34955
A geodesic feedback law to decouple the full and reduced attitude
English
Markdahl, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Hoppe, Jens []
Wang, Lin []
Hu, Xiaoming []
2017
System and Control Letters
Elsevier
102
32ā€“41
Yes
International
[en] attitude control ; reduced attitude ; geodesic ; n-sphere ; SO(n) ; special orthogonal group ; full attitude
[en] This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the nāˆ’1-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action, essentially two maneuvers in sequel, is fused into one smooth motion. Our algorithm is useful in applications where stabilization of the reduced attitude takes precedence over stabilization of the full attitude. A two parameter feedback gain affords further trade-offs between the full and reduced attitude convergence speed. The closed loop kinematics on SO(3) are solved for the states as functions of time and the initial conditions, providing precise
knowledge of the transient dynamics. The exact solutions also help us to characterize the asymptotic behavior of the system such as establishing the region of attraction by straightforward evaluation of limits. The geometric flavor of these ideas is illustrated by a numerical example.
Researchers
http://hdl.handle.net/10993/34955

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