The attitude control problem |
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Authors: | Wen JT-Y Kreutz-Delgado K |
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Affiliation: | Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY; |
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Abstract: | A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework |
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