期刊
2021 7TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION AND AUTOMATION (ICCIA)
卷 -, 期 -, 页码 104-108出版社
IEEE
DOI: 10.1109/ICCIA52082.2021.9403607
关键词
Quaternions; Attitude control; Synergistic potential functions
This paper investigates the attitude control problem of a rigid body, and proposes a novel quaternion-based hybrid feedback control method to overcome topological obstacles by introducing centrally synergistic potential functions. Simulation studies demonstrate the superior performance of the proposed control technique.
This paper peruses the attitude control problem of a rigid body, a task that is subjected to topological obstructions. These topological obstructions express that there is no globally asymptotically stable equilibrium point for a system evolving on a compact manifold. Therefore, there exist no continuous or discontinuous feedback control laws to globally stabilize the desired rigid body attitude. Thereafter, this paper presents quaternion-based hybrid feedback to defeat these topological obstacles. The proposed control law is derived from a new kind of centrally synergistic potential functions which is introduced in this paper. This function induces a gradient vector field that globally asymptotically stabilizes the desired attitude. Finally, a simulation study depicts the superior performance of the proposed quaternion-based hybrid feedback control technique. This paper peruses the attitude control problem of a rigid body, a task that is subjected to topological obstructions. These topological obstructions express that there is no globally asymptotically stable equilibrium point for a system evolving on a compact manifold. Therefore, there exist no continuous or discontinuous feedback control laws to globally stabilize the desired rigid body attitude. Thereafter, this paper presents quaternion-based hybrid feedback to defeat these topological obstacles. The proposed control law is derived from a new kind of centrally synergistic potential functions which is introduced in this paper. This function induces a gradient vector field that globally asymptotically stabilizes the desired attitude. Finally, a simulation study depicts the superior performance of the proposed quaternion-based hybrid feedback control technique.
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