Semiglobal Nonmemoryless Attitude Controls on the Special Orthogonal Group
Abstract
This paper presents tracking strategies for the attitude dynamics of a rigid body that are global on the configuration space SO(3) and semiglobal over the phase space SO(3)×ℝ3. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological restriction has been dealt with either by constructing smooth attitude control systems that exclude a set of zero measure in the region of attraction or by introducing discontinuities in the control input. This paper proposes nonmemoryless attitude control systems that are continuous in time, where the region of attraction guaranteeing exponential convergence completely covers the special orthogonal group. This provides a new framework to address the topological restriction in attitude controls. The efficacy of the proposed methods is illustrated by numerical simulations and an experiment.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Oct 05, 2018
- Source ID
- 10.1115/1.4041447
Entities
People
- Dong Eui Chang
- Taeyoung Lee
- Yongsoon Eun
Organizations
- Air Force Office of Scientific Research
- Daegu Gyeongbuk Institute of Science and Technology
- George Washington University
- Institute for Information and Communications Technology Planning and Evaluation
- KAIST
- National Research Foundation of Korea
- National Science Foundation