Attitude stabilization with a nonholonomic constraint

Author

Sordalen, O.J. ; Egeland, Olav ; De Wit, C. Canudas

Author_Institution

Div. of Eng. Cybernetics, Norwegian Inst. of Technol., Trondheim, Norway

fYear

1992

fDate

1992

Firstpage

1610

Abstract

The authors present a piecewise continuous feedback law for attitude stabilization of a rigid body which can rotate around only two axes. The angular velocity around the third axis is constrained to be zero. This is a controllable nonholonomic system for which the attitude cannot be stabilized by a smooth feedback law. It is shown that the kinematic equations can be transformed into the same model structure as the one used to describe a mobile wheeled robot with two degrees of freedom. A piecewise continuous feedback law can then be used as in the mobile robot case with exponential convergence to stabilize the attitude of the rigid body

Keywords

attitude control; control system analysis; controllability; feedback; kinematics; nonlinear control systems; stability; attitude stabilization; controllable nonholonomic system; exponential convergence; kinematic equations; model structure; nonholonomic constraint; piecewise continuous feedback law; rigid body; Angular velocity; Attitude control; Cellular neural networks; Control systems; Convergence; Cybernetics; Equations; Feedback; Kinematics; Mobile robots; Robot kinematics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Conference_Location

Tucson, AZ

Print_ISBN

0-7803-0872-7

Type

conf

DOI

10.1109/CDC.1992.371455

Filename

371455