Hybrid control of rigid-body attitude with synergistic potential functions
Hybrid control of rigid-body attitude with synergistic potential functions
复制标题
具有协同势函数的刚体姿态混合控制
DOI：
10.1109/acc.2011.5991126
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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
由于拓扑障碍，使用平滑反馈不可能实现刚体姿态的全局渐近稳定。在本文中，我们提出了一种混合反馈，它协调潜在函数及其自然反馈的“协同”族，以实现所需姿态的全局渐近稳定性，并对包括测量噪声在内的小扰动具有鲁棒性。我们通过模拟来说明结果。
Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a "synergistic" family of potential functions and their natural feedbacks to achieve global asymptotic stability of a desired attitude with robustness to small perturbations including measurement noise. We illustrate the results via simulation.