相关论文: Attitude and Angular Velocity Tracking for a Rigid…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
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…
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 proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body.…
We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
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…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
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…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
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 addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…