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Quaternion-Based Hybrid Control for Robust Global Attitude Tracking

机译：基于四元数的混合控制，可进行可靠的全局姿态跟踪

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摘要

It is well known that controlling the attitude of a rigid body is subject to topological constraints. We illustrate, with examples, the problems that arise when using continuous and (memoryless) discontinuous quaternion-based state-feedback control laws for global attitude stabilization. We propose a quaternion-based hybrid feedback scheme that solves the global attitude tracking problem in three scenarios: full state measurements, only measurements of attitude, and measurements of attitude with angular velocity measurements corrupted by a constant bias. In each case, the hybrid feedback is dynamic and incorporates hysteresis-based switching using a single binary logic variable for each quaternion error state. When only attitude measurements are available or the angular rate is corrupted by a constant bias, the proposed controller is observer-based and incorporates an additional quaternion filter and bias observer. The hysteresis mechanism enables the proposed scheme to simultaneously avoid the “unwinding phenomenon” and sensitivity to arbitrarily small measurement noise that is present in discontinuous feedbacks. These properties are shown using a general framework for hybrid systems, and the results are demonstrated by simulation.
机译：众所周知，控制刚体的姿态受到拓扑约束。我们举例说明使用连续和（无内存）不连续的基于四元数的状态反馈控制律来稳定全局姿态时出现的问题。我们提出了一种基于四元数的混合反馈方案，该方案在以下三种情况下解决了全局姿态跟踪问题：全状态测量，仅姿态测量以及角速度测量受到恒定偏差破坏的姿态测量。在每种情况下，混合反馈都是动态的，并且针对每个四元数误差状态使用单个二进制逻辑变量并入了基于磁滞的切换。当仅姿态测量可用或角速率因恒定偏差而损坏时，建议的控制器基于观察者，并包含一个附加的四元数滤波器和偏差观察者。磁滞机制使所提出的方案能够同时避免“退绕现象”和对不连续反馈中出现的任意小测量噪声的敏感性。使用混合系统的通用框架显示这些属性，并通过仿真演示结果。

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