Abstract
Stabilization on a non-contractible manifold is a difficult control problem. We have proposed the minimum projection method for asymptotic stabilization of nonlinear systems on manifolds. The minimum projection method requires the strict condition for a control Lyapunov function (CLF) on another manifold. In this paper, we relax the condition by desingularization of the function on the other manifold. We consider a rigid body control problem as an application of desingularization based control method. S3 is a double covering space of SO(3). Stabilization on SO(3) is a difficult problem; however, the strong CLF design on S3 is not difficult. Then, we design a strict CLF from the CLF on S3 by desingularization. Finally, we confirm the effectiveness of the desingularization based control method by computer simulation.
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.
