Related papers: Attitude Control of Rigid Bodies: A Survey of Repr…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that…
A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the…