Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method

Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method
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DOI：
10.1109/ccta.2018.8511603
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发表时间：
2018-08
期刊：
2018 IEEE Conference on Control Technology and Applications (CCTA)
影响因子：
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通讯作者：
Seiya Nomura;Yasuyuki Satoh;Hisakazu Nakamura;Kiyotaka Kato
Seiya Nomura;Yasuyuki Satoh;Hisakazu Nakamura;Kiyotaka Kato
中科院分区：
其他
文献类型：
--
作者：
Seiya Nomura;Yasuyuki Satoh;Hisakazu Nakamura;Kiyotaka Kato

文献摘要

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本文针对刚体姿态动力学提出了一种新的路径跟踪控制器设计方法。首先考虑轨迹跟踪问题，设计了跟踪控制李亚普诺夫函数(T-CLF)。然后基于最小投影法设计了路径跟踪控制李亚普诺夫函数(PF-CLF)，并设计了T-CLF。此外，基于PF-CLF构造了路径跟踪问题的不连续状态反馈控制器。通过一个多目标问题的数值算例验证了该方法的有效性。
In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.