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Article Dans Une Revue Automatica Année : 2024

Generalized homogeneous rigid-body attitude control

Résumé

The attitude tracking problem for a full-actuated rigid body in 3D is studied using a system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to track a smooth attitude trajectory in a finite/fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The input-to-state stability of the control system with respect to measurement noises and additive perturbations is studied. Simulations illustrating the performance of the proposed algorithm are presented.

Domaines

Automatique
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Dates et versions

hal-04615944 , version 1 (18-06-2024)

Identifiants

Citer

Yu Zhou, Andrey Polyakov, Gang Zheng. Generalized homogeneous rigid-body attitude control. Automatica, 2024, 163, pp.111548. ⟨10.1016/j.automatica.2024.111548⟩. ⟨hal-04615944⟩
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