Quaternion-based attitude stabilization via discrete-time IDA-PBC
Systems and Control
2022-05-09 v1 Systems and Control
Abstract
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.
Cite
@article{arxiv.2205.03086,
title = {Quaternion-based attitude stabilization via discrete-time IDA-PBC},
author = {Mattia Mattioni and Alessio Moreschini and Salvatore Monaco and Dorothée Normand-Cyrot},
journal= {arXiv preprint arXiv:2205.03086},
year = {2022}
}