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Attitude control strategies overcoming the topological obstruction on SO(3)

Title
Attitude control strategies overcoming the topological obstruction on SO(3)
Authors
Lee, TaeyoungChang, Dong EuiEun, Yongsoon
DGIST Authors
Eun, Yongsoon
Issue Date
2017-05-25
Citation
2017 American Control Conference, ACC 2017, 2225-2230
Type
Conference
Keywords
Attitude ControlAttitude DynamicsControl StrategiesGlobal AttractivityHybrid System FrameworkHybrid SystemsMultiple ConfigurationsRegion of AttractionSpecial Orthogonal GroupTopological ObstructionsTopology
ISSN
0743-1619
Abstract
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. © 2017 American Automatic Control Council (AACC).
URI
http://hdl.handle.net/20.500.11750/5433
DOI
10.23919/ACC.2017.7963283
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Eun, Yong Soon DSC Lab(Dynamic Systems and Control Laboratory)
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
Files:
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Collection:
Department of Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)2. Conference Papers


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