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Article Dans Une Revue IEEE Control Systems Letters Année : 2022

Quaternion-based attitude stabilization via discrete-time IDA-PBC

Résumé

In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.
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Dates et versions

hal-04228045 , version 1 (04-10-2023)

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Mattia Mattioni, Alessio Moreschini, Salvatore Monaco, Dorothée Normand-Cyrot. Quaternion-based attitude stabilization via discrete-time IDA-PBC. IEEE Control Systems Letters, 2022, 6, pp.2665-2670. ⟨10.1109/LCSYS.2022.3173509⟩. ⟨hal-04228045⟩
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