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 |
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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 |
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Country | United Kingdom |
City | Oxford |
Period | 9/09/15 → 11/09/15 |
Keywords
- attitude tracking control
- Lyapunov function
- asymptotic stability
- robotic systems
- quaternion feedback control method