DocumentCode :
3309973
Title :
Robust global asymptotic attitude stabilization of a rigid body by quaternion-based hybrid feedback
Author :
Mayhew, Christopher G. ; Sanfelice, Ricardo G. ; Teel, Andrew R.
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of California, Santa Barbara, CA, USA
fYear :
2009
fDate :
15-18 Dec. 2009
Firstpage :
2522
Lastpage :
2527
Abstract :
Global asymptotic stabilization of the attitude of a rigid body is hindered by major topological obstructions. In fact, this task is impossible to accomplish with continuous state feedback. Moreover, when the attitude is parametrized with unit quaternions, it becomes impossible to design a globally stabilizing state feedback (even discontinuous) that is robust to measurement noise. In this paper, we present a quaternion-based hysteretic hybrid feedback that robustly globally asymptotically stabilizes the attitude of a rigid body. The hybrid control laws are derived through Lyapunov analysis in kinematic and dynamic settings. In the dynamic setting, we provide two control laws: one derived from an energy-based Lyapunov function and another based on backstepping. Analyzing the change in these Lyapunov functions due to switching of a logic variable yields a straightforward form for state-based hysteresis. A simulation study demonstrates how hysteresis provides robustness to measurement noise and highlights differences between the energy-based and backstepping control laws.
Keywords :
Lyapunov methods; aerospace robotics; asymptotic stability; attitude control; hysteresis; mobile robots; robot dynamics; robot kinematics; robust control; state feedback; telerobotics; Lyapunov analysis; attitude stabilization; backstepping; dynamic setting; energy-based Lyapunov function; hybrid control laws; kinematic setting; quaternion-based hybrid feedback; rigid body; robust global asymptotic stabilization; state feedback; state-based hysteresis; Backstepping; Hysteresis; Kinematics; Logic; Lyapunov method; Noise measurement; Noise robustness; Quaternions; Robust control; State feedback;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
ISSN :
0191-2216
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
Type :
conf
DOI :
10.1109/CDC.2009.5400431
Filename :
5400431
Link To Document :
بازگشت