Attitude control strategies overcoming the topological obstruction on SO(3)
Attitude control strategies overcoming the topological obstruction on SO(3)
复制标题
克服 SO(3) 拓扑障碍的姿态控制策略
DOI：
10.23919/acc.2017.7963283
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Y. Eun
中科院分区：
文献类型：
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作者：
Taeyoung Lee;D. Chang;Y. Eun
针对刚体姿态动力学问题，提出了全局跟踪策略。由于固有的拓扑限制，任何连续的姿态控制系统在特殊正交群上都不可能达到全局吸引。最近，拓扑约束已被处理的切换之间的多个配置错误的功能，根据混合系统框架。本文提出了另一种姿态控制策略，以实现指数稳定的吸引域覆盖整个特殊的正交群。这是通过一个共轭类调整所需的姿态轨迹的新的理想。独特的贡献是，在姿态控制的拓扑限制的解决，而不引入不连续性，相对于时间。
Global tracking strategies are presented for the attitude dynamics of a rigid body. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on the special orthogonal group. Recently, the topological restriction has been dealt with switching between multiple configuration error functions according to the hybrid system framework. This paper proposes an alternative attitude control strategy to achieve exponential stability where the region of attraction covers the entire special orthogonal group. This is achieved by the novel ideal of adjusting the desired attitude trajectory via a conjugacy class. The unique contribution is that the topological restriction in attitude controls is addressed without introducing discontinuities with respect to time.