Asymptotic and finite-time almost global attitude tracking: representations free approach
Optimization and Control
2017-11-15 v1
Abstract
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on . Hence in this work, we propose some control protocols achieve almost global tracking asymptotically and in finite time, respectively. In these protocols, no world frame is needed and only relative state informations are requested. For finite-time tracking case, Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Simulation examples are provided to verify the performances of the control protocols designed in this paper.
Keywords
Cite
@article{arxiv.1711.04659,
title = {Asymptotic and finite-time almost global attitude tracking: representations free approach},
author = {Jieqiang Wei and Christos Verginis and Junfeng Wu and Dimos V. Dimarogonas and Henrik Sandberg and Karl H. Johansson},
journal= {arXiv preprint arXiv:1711.04659},
year = {2017}
}
Comments
arXiv admin note: text overlap with arXiv:1705.02821