Abstract
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 |
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Keywords
- attitude tracking control
- Lyapunov function
- asymptotic stability
- robotic systems
- quaternion feedback control method
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A quaternion-based attitude tracking controller for robotic systems. / Biggs, James.
2015. Paper presented at IMA Conference on Mathematics of Robotics, Oxford, United Kingdom.Research output: Contribution to conference › Paper
TY - CONF
T1 - A quaternion-based attitude tracking controller for robotic systems
AU - Biggs, James
PY - 2015/9/9
Y1 - 2015/9/9
N2 - 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.
AB - 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.
KW - attitude tracking control
KW - Lyapunov function
KW - asymptotic stability
KW - robotic systems
KW - quaternion feedback control method
UR - http://ima.org.uk/conferences/conferences_calendar/mathematics_of_robotics.html
M3 - Paper
ER -