A quaternion-based attitude tracking controller for robotic systems

James Biggs

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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 languageEnglish
Number of pages8
Publication statusPublished - 9 Sep 2015
EventIMA Conference on Mathematics of Robotics - University of Oxford, St Anne's College, Oxford, United Kingdom
Duration: 9 Sep 201511 Sep 2015

Conference

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

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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.