A quaternion-based attitude tracking controller for robotic systems

James Biggs

A quaternion-based attitude tracking controller for robotic systems

James Biggs

Mechanical And Aerospace Engineering

Research output: Contribution to conference › Paper

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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

Keywords

attitude tracking control
Lyapunov function
asymptotic stability
robotic systems
quaternion feedback control method

Access to Document

Biggs-IMA-Maths-of-Robotics-2015-A-quaternion-based-attitude-tracking-controller-for-robotic-systemsAccepted author manuscript, 286 KB

http://ima.org.uk/conferences/conferences_calendar/mathematics_of_robotics.html

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Cite this

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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.",

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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.

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KW - asymptotic stability

KW - robotic systems

KW - quaternion feedback control method

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