DocumentCode :
3693567
Title :
Attitude and angular velocity tracking for a rigid body using geometric methods on the two-sphere
Author :
Michalis Ramp;Evangelos Papadopoulos
Author_Institution :
Department of Mechanical Engineering, National Technical University of Athens, (NTUA) 15780, Greece
fYear :
2015
fDate :
7/1/2015 12:00:00 AM
Firstpage :
3238
Lastpage :
3243
Abstract :
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed here. Existing geometric controllers developed on the two-sphere only address the tracking of a reference pointing direction while driving the angular velocity about the pointing direction to zero. In this paper a tracking controller on the two-sphere, able to address the PDAV control task, is developed globally in a geometric frame work, to avoid problems related to other attitude representations such as unwinding (quaternions) or singularities (Euler angles). An attitude error function is constructed resulting in a control system with desired tracking performance for rotational maneuvers with large initial attitude/angular velocity errors and the ability to negotiate bounded modeling inaccuracies. The tracking ability of the developed control system is evaluated by comparing its performance with an existing geometric controller on the two-sphere and by numerical simulations, showing improved performance for large initial attitude errors, smooth transitions between desired angular velocities and the ability to negotiate bounded modeling inaccuracies.
Keywords :
"Angular velocity","Attitude control","Radar tracking","PD control","Aerospace electronics","Quaternions"
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2015 European
Type :
conf
DOI :
10.1109/ECC.2015.7331033
Filename :
7331033
Link To Document :
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