Abstract
This paper presents a new quaternion-based attitude tracking controller. A general Lyapunov function is defined whose derivative is control dependent and a control is chosen to guarantee asymptotic stability of the zero-error state. The corresponding closed loop error dynamics are shown to reduce to a simple 1 degree of freedom description in terms of the eigen-axis angle error. The main contribution of this paper is to present a special case where the closed-loop error dynamics reduce to a simple linear oscillator description (without the need for linearisation). This means that the controller can be tuned to guarantee exponentially fast tracking with a damped response and without oscillation.
| Original language | English |
|---|---|
| Number of pages | 8 |
| Publication status | Published - 9 Sep 2015 |
| Event | IMA Conference on Mathematics of Robotics - University of Oxford, St Anne's College, Oxford, United Kingdom Duration: 9 Sep 2015 → 11 Sep 2015 |
Conference
| Conference | IMA Conference on Mathematics of Robotics |
|---|---|
| Country | United Kingdom |
| City | Oxford |
| Period | 9/09/15 → 11/09/15 |
Fingerprint
Keywords
- attitude tracking control
- Lyapunov function
- asymptotic stability
- robotic systems
- quaternion feedback control method
Cite this
Biggs, J. (2015). A quaternion-based attitude tracking controller for robotic systems. Paper presented at IMA Conference on Mathematics of Robotics, Oxford, United Kingdom.