TY - JOUR
T1 - Hybrid Output Feedback for Attitude Tracking on SO(3)
AU - Berkane, Soulaimane
AU - Abdessameud, Abdelkader
AU - Tayebi, Abdelhamid
N1 - Funding Information:
Manuscript received November 1, 2017; revised January 27, 2018; accepted February 5, 2018. Date of publication February 21, 2018; date of current version October 25, 2018. This work was supported by the National Sciences and Engineering Research Council of Canada. A short and preliminary part of this work has been presented in IEEE CDC 2016, [1]. (Corresponding author: Abdelhamid Tayebi.) S. Berkane is with the Department of Electrical and Computer Engineering, University of Western Ontario, London, ON N6A 3K7, Canada (e-mail: sberkane@uwo.ca).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/11
Y1 - 2018/11
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
AN - SCOPUS:85042370188
VL - 63
SP - 3956
EP - 3963
JO - IRE Transactions on Automatic Control
JF - IRE Transactions on Automatic Control
SN - 0018-9286
IS - 11
M1 - 8299435
ER -