DocumentCode
1645516
Title
Attitude Control Based on the Lie-group Structure of Unit Quaternions
Author
Dapeng, Han ; Qing, Wei ; Zexiang, Li
Author_Institution
Nat. Univ. of Defense Technol., Changsha
fYear
2007
Firstpage
326
Lastpage
331
Abstract
This paper focuses on a new approach for the attitude control problem. The control laws exploit the Lie-group structure of unit quaternions. Stability analysis relies on an appropriate Lyapunov function. Set point control and tracking control are investigated respectively. Using this approach, not only design and analysis are simplified, but also global approximate exponential convergence is guaranteed. The control laws are demonstrated to be effective by simulation results.
Keywords
Lie groups; Lyapunov methods; attitude control; control system analysis; control system synthesis; stability; tracking; Lie-group structure; Lyapunov function; attitude control; control design; global approximate exponential convergence; set point control; stability analysis; tracking control; unit quaternions; Angular velocity; Automatic control; Automation; Convergence; Lyapunov method; Quaternions; Satellites; Space vehicles; Stability analysis; Underwater vehicles; Attitude Control; Lie Group; Unit Quaternion;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2007. CCC 2007. Chinese
Conference_Location
Hunan
Print_ISBN
978-7-81124-055-9
Electronic_ISBN
978-7-900719-22-5
Type
conf
DOI
10.1109/CHICC.2006.4347101
Filename
4347101
Link To Document