Generalized Homogeneous Rigid-BodyAttitude Control
Systems and Control
2023-07-04 v2 Systems and Control
Abstract
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a finite or a (nearly) fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The local input-to-state stability is proven. Simulations illustrating the performance of the proposed algorithm are presented.
Cite
@article{arxiv.2210.01530,
title = {Generalized Homogeneous Rigid-BodyAttitude Control},
author = {Yu Zhou and Andrey Polyakov and Gang Zheng},
journal= {arXiv preprint arXiv:2210.01530},
year = {2023}
}
Comments
Global homogeneous attitude finite/fixed-time attitude controller. Strict Lyapunov and settling time estimate is provided