Synergistic potential functions for hybrid control of rigid-body attitude
Synergistic potential functions for hybrid control of rigid-body attitude
复制标题
刚体姿态混合控制的协同势函数
DOI：
10.1109/acc.2011.5990826
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Teel
中科院分区：
文献类型：
--
作者：
Christopher G. Mayhew;A. Teel
实现全球渐近稳定的刚体姿态是不可能使用平滑反馈，但是，这种障碍可以克服使用混合控制器，协调“协同”家庭的潜在功能和相应的反馈。在本文中，我们表明，这是不可能的，以构建一个协同家庭的潜在功能，从广泛使用的类“修改后的跟踪功能”，尽管事实上，人们可以选择这些功能的子集，其唯一的共同的临界点是单位元。以此为动机，我们引入了一个参数化的仿射，这是能够改变的临界行为的潜在功能，并产生一个协同家庭，铺平了道路的全局渐近姿态稳定的刚体姿态的混合反馈。
Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback; however, this obstruction can be overcome using a hybrid controller that coordinates a "synergistic" family of potential functions and their corresponding feedbacks. In this paper, we show that it is impossible to construct a synergistic family of potential functions from the widely used class of "modified trace functions," despite the fact that one can choose a subset of these functions whose only common critical point is the identity element. With this as motivation, we introduce a parametrized diffeomorphism that is capable of altering the critical behavior of potential functions and generating a synergistic family, paving the way for global asymptotic attitude stabilization of rigid-body attitude by hybrid feedback.