Hybrid Output Feedback for Attitude Tracking on<inline-formula><tex-math notation='LaTeX'>$mathbb {SO}(3)$</tex-math></inline-formula>

Soulaimane Berkane; Abdelkader Abdessameud; Abdelhamid Tayebi

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$mathbb {SO}(3)$

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Hybrid Output Feedback for Attitude Tracking on$mathbb {SO}(3)$

机译：用于 $ mathbb {SO}（3）$ 上的姿态跟踪的混合输出反馈

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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) × ℝ^{3, 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.}

机译：我们提出了仅使用SO（3）上的姿态信息来解决全局指数姿态跟踪控制问题的两种解决方案。第一种方法基于混合的混合观察者-混合控制器结构。我们导出直接用于SO（3）×× n ^{3 n，以确保零估计误差的全局指数稳定性。此后，我们提出了一种基于观测器的姿态跟踪控制方案，该方案可确保全局指数稳定性。第二种方法包括引入辅助动力系统，该系统在没有速度的情况下产生必要的阻尼。我们证明了所提出的基于辅助系统的混合控制器也保证了全局指数稳定性。}

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来源
《Automatic Control, IEEE Transactions on》 |2018年第11期|3956-3963|共8页
作者
Soulaimane Berkane; Abdelkader Abdessameud; Abdelhamid Tayebi;
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作者单位

Department of Electrical and Computer Engineering, University of Western Ontario, London, ON, Canada;

School of Science, Engineering and Technology, Pennsylvania State University, Harrisburg, PA, USA;

Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, Canada;

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正文语种 eng
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关键词
Attitude control; Angular velocity; Observers; Control theory; Stability; Asymptotic stability; Damping;

机译：姿态控制角速度观测器控制理论稳定性渐近稳定性阻尼;

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Hybrid Output Feedback for Attitude Tracking on$mathbb {SO}(3)$

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