Title :
Discontinuous adaptive control of attitude of rigid body by using minimum projection method
Author :
Hatayama, Tomoaki ; Nakamura, Hajime
Author_Institution :
Dept. of Electr. Eng., Tokyo Univ. of Sci., Noda, Japan
Abstract :
An attitude of a rigid body is defined on SO(3); this fact leads to problems in attitude control of a rigid body. We propose a discontinuous adaptive control law for global asymptotic stabilization of the attitude of the rigid body by minimum projection method. We prove that the system always has Carathéodory solutions under our adaptive control method.
Keywords :
adaptive control; aerospace robotics; asymptotic stability; attitude control; differential equations; helicopters; mobile robots; sampled data systems; Carathéodory solutions; asymptotic stabilization; discontinuous adaptive control law; four-rotor aerial robot; minimum projection method; rigid body attitude control; Adaptive control; Aerospace electronics; Attitude control; Lyapunov methods; Manifolds; Quaternions; Switches; Adaptive and Optimal Control; Guidance and Flight Control; Nonlinear Control;
Conference_Titel :
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location :
Sapporo
DOI :
10.1109/SICE.2014.6935275
