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Almost global attitude stabilization of a rigid body for both internal and external actuation schemes

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Title Almost global attitude stabilization of a rigid body for both internal and external actuation schemes
 
Creator BAYADI, R
BANAVAR, RN
 
Subject Attitude control
Almost global stabilization
Internal actuation
Vector observations
SPACECRAFT
SYMMETRY
TRACKING
SYSTEM
 
Description One of the recent developments in attitude control is the notion of almost-global asymptotic stabilization (AGAS) using coordinate-free control laws. In this paper, we examine two aspects related to this line of research. The first is the problem of AGAS with internal actuation. Since all of the results concerning AGAS so far focus on external actuation, we address the internal actuation case and show that there exists a class of control laws that can almost globally stabilize the desired equilibria either by external or internal actuation. The second aspect we analyze is the construction of potential functions leading to AGAS. We show that it is possible to construct such potential functions in such a way that the resulting control torque depends only on two vector observations, thus avoiding the need for explicitly computing the attitude matrix for the purpose of feedback. We also show that these potentials are nothing but the commonly used error functions, namely the modified trace functions. (C) 2013 European Control Association. Published by Elsevier Ltd. All rights reserved.
 
Publisher ELSEVIER SCIENCE BV
 
Date 2014-12-28T11:52:00Z
2014-12-28T11:52:00Z
2014
 
Type Article
 
Identifier EUROPEAN JOURNAL OF CONTROL, 20(1)45-54
0947-3580
1435-5671
http://dx.doi.org/10.1016/j.ejcon.2013.10.006
http://dspace.library.iitb.ac.in/jspui/handle/100/16406
 
Language English