Stabilization of rigid body attitude motion with time-delayed feedback

Abstract

A continuous nonlinear full-state time-delayed feedback control scheme is designed within the framework of geometric mechanics to stabilize the rigid body attitude motion, which is subject to an unknown constant time delay in feedback measurement. The attitude kinematics is globally described on the matrix Lie group SO(3) of rigid body rotations. A Morse–Lyapunov–Krasovskii functional is utilized to guarantee the asymptotic stability of the system, which yields the control gain matrices via linear matrix inequality stability conditions. In light of this result, a delayed feedback control scheme is also designed for the planar rotational motion to examine the almost global asymptotic stability of the system in the presence of an unknown time delay in feedback measurement. Simulations are performed for the proposed control schemes based on the discretized models of the controlled systems and the performance of the proposed controllers are evaluated by employing large maneuvers.