Geometric PID-type attitude tracking control on SO(3)
Systems and Control
2019-09-17 v1 Systems and Control
Abstract
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been proposed in the past, this PID-type control scheme exhibits almost global asymptotic stability in tracking a desired attitude profile. The stability of this PID-type tracking control scheme is shown using a Lyapunov analysis. A numerical simulation study demonstrates the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed integrator term.
Cite
@article{arxiv.1909.06916,
title = {Geometric PID-type attitude tracking control on SO(3)},
author = {Hossein Eslamiat and Ningshan Wang and Amit K. Sanyal},
journal= {arXiv preprint arXiv:1909.06916},
year = {2019}
}