Title :
Further passivity results for the attitude control problem
Author :
Tsiotras, Panagiotis
Author_Institution :
Dept. of Mech., Aerosp. & Nucl. Eng., Virginia Univ., Charlottesville, VA, USA
fDate :
11/1/1998 12:00:00 AM
Abstract :
In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters. In particular, we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties. The results of this paper extend similar results for the case of the (nonminimal) Euler parameters
Keywords :
asymptotic stability; attitude control; kinematics; angular velocity measurements; attitude control problem; attitude motion; linear asymptotically stabilizing controllers; minimal 3D kinematic parameters; nonminimal Euler parameters; passivity results; rigid body; Aerodynamics; Angular velocity; Angular velocity control; Attitude control; Control systems; Equations; Kinematics; Mechanical systems; Symmetric matrices; Velocity measurement;
Journal_Title :
Automatic Control, IEEE Transactions on
