Abstract
We present two solutions to the global exponential attitude tacking control problem using only attitude information on {SO}(3). The first approach is based on a combined hybrid observer-hybrid controller structure. We derive a hybrid angular velocity observer for rigid body systems, designed directly on SO(3)×R3, guaranteeing global exponential stability of the zero estimation error. Thereafter, we propose an observer-based attitude tracking control scheme guaranteeing global exponential stability. The second approach consists of introducing an auxiliary dynamical system that generates the necessary damping in the absence of the velocity. We prove that the proposed auxiliary-system-based hybrid controller guarantees global exponential stability as well.
| Original language | English (US) |
|---|---|
| Article number | 8299435 |
| Pages (from-to) | 3956-3963 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 63 |
| Issue number | 11 |
| DOIs | |
| State | Published - Nov 1 2018 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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Hybrid Output Feedback for Attitude Tracking on SO(3). / Berkane, Soulaimane; Abdessameud, Abdelkader; Tayebi, Abdelhamid.
In: IEEE Transactions on Automatic Control, Vol. 63, No. 11, 8299435, 01.11.2018, p. 3956-3963.Research output: Contribution to journal › Article
TY - JOUR
T1 - Hybrid Output Feedback for Attitude Tracking on SO(3)
AU - Berkane, Soulaimane
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
PY - 2018/11/1
Y1 - 2018/11/1
N2 - We present two solutions to the global exponential attitude tacking control problem using only attitude information on {SO}(3). The first approach is based on a combined hybrid observer-hybrid controller structure. We derive a hybrid angular velocity observer for rigid body systems, designed directly on SO(3)×R3, guaranteeing global exponential stability of the zero estimation error. Thereafter, we propose an observer-based attitude tracking control scheme guaranteeing global exponential stability. The second approach consists of introducing an auxiliary dynamical system that generates the necessary damping in the absence of the velocity. We prove that the proposed auxiliary-system-based hybrid controller guarantees global exponential stability as well.
AB - We present two solutions to the global exponential attitude tacking control problem using only attitude information on {SO}(3). The first approach is based on a combined hybrid observer-hybrid controller structure. We derive a hybrid angular velocity observer for rigid body systems, designed directly on SO(3)×R3, guaranteeing global exponential stability of the zero estimation error. Thereafter, we propose an observer-based attitude tracking control scheme guaranteeing global exponential stability. The second approach consists of introducing an auxiliary dynamical system that generates the necessary damping in the absence of the velocity. We prove that the proposed auxiliary-system-based hybrid controller guarantees global exponential stability as well.
UR - http://www.scopus.com/inward/record.url?scp=85042370188&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85042370188&partnerID=8YFLogxK
U2 - 10.1109/TAC.2018.2808445
DO - 10.1109/TAC.2018.2808445
M3 - Article
VL - 63
SP - 3956
EP - 3963
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 11
M1 - 8299435
ER -