Sliding Motions on SO(3), Sliding Subgroups
Dynamical Systems
2019-05-15 v1 Differential Geometry
Abstract
We propose a sliding surface for systems on the Lie group . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable equilibrium. The sliding surface is used to design a sliding-mode controller for the attitude control of rigid bodies. The closed-loop system is robust against matched disturbances and does not exhibit the undesired unwinding phenomenon.
Keywords
Cite
@article{arxiv.1905.05753,
title = {Sliding Motions on SO(3), Sliding Subgroups},
author = {Gian C. Gomez Cortes and Fernando Castanos and Jorge Davila},
journal= {arXiv preprint arXiv:1905.05753},
year = {2019}
}
Comments
Submitted to the 58th Conference on Decision and Control - Nice, France