Stabilization and optimality results for the attitude control problem
Stabilization and optimality results for the attitude control problem
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DOI：
10.2514/3.21698
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发表时间：
1996-07
影响因子：
2.6
通讯作者：
P. Tsiotras
中科院分区：
文献类型：
--
作者：
P. Tsiotras
本文给出了旋转刚体姿态运动的描述和控制的一些最新结果，导出了一类新的全局渐近稳定的反馈控制律，用于完全动力学和运动学的姿态运动，证明了使用包含角速度二次项和运动参数对数项之和的李雅普诺夫函数，线性控制器的设计我们还证明了运动学的反馈控制律在所有初始条件下使状态和控制变量的二次代价最小。对于完整的系统，我们构造了一族指数稳定的控制律，并研究了它们的最优性。所提出的控制律是根据经典的Cayley Rodrigues参数和Modi艾德Rodrigues参数给出的。
In this paper we present some recent results on the description and control of the attitude motion of rotating rigid bodies We derive a new class of globally asymptotically stabilizing feedback control laws for the complete i e dynamics and kinematics attitude motion We show that the use of a Lyapunov function which involves the sum of a quadratic term in the angular velocities and a logarithmic term in the kinematic parameters leads to the design of linear controllers We also show that the feedback control laws for the kinematics minimize a quadratic cost in the state and control variables for all initial conditions For the complete system we construct a family of exponentially stabilizing control laws and we investigate their optimality characteristics The proposed control laws are given in terms of the classical Cayley Rodrigues parameters and the Modi ed Rodrigues parameters