A quaternion-based attitude tracking controller for robotic systems

James Biggs

Research output: Contribution to conferencePaper

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.

Conference

ConferenceIMA Conference on Mathematics of Robotics
CountryUnited Kingdom
CityOxford
Period9/09/1511/09/15

Fingerprint

Robotics
Controllers
Lyapunov functions
Asymptotic stability
Linearization
Derivatives

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.
Biggs, James. / A quaternion-based attitude tracking controller for robotic systems. Paper presented at IMA Conference on Mathematics of Robotics, Oxford, United Kingdom.8 p.
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Biggs, J 2015, 'A quaternion-based attitude tracking controller for robotic systems' Paper presented at IMA Conference on Mathematics of Robotics, Oxford, United Kingdom, 9/09/15 - 11/09/15, .

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 conferencePaper

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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.

KW - attitude tracking control

KW - Lyapunov function

KW - asymptotic stability

KW - robotic systems

KW - quaternion feedback control method

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M3 - Paper

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Biggs J. A quaternion-based attitude tracking controller for robotic systems. 2015. Paper presented at IMA Conference on Mathematics of Robotics, Oxford, United Kingdom.