Abstract
In this paper we attempt to give a complete solution to the attitude control problem of rigid body without angular velocity measurement. The problem to be solved is attitude tracking problem with the so-called reduction property in the sense that the proposed control law reduces to the one that achieves setpoint regulation when the desired trajectory is stationary. The eminent feature of the approach in this paper is that we do not use coordinate systems on SO(3) to describe the attitude of rigid body and consider generalized rigid body of dimension n. We also employ the Hamiltonian formulation for the rigid body dynamics to focus on energy dissipation. In this framework it is possible to design an observer for generalized rigid body and prove closed-loop stability, a separation principle, which has been conjectured but not yet been shown.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
