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.

A quaternion-based attitude tracking controller for robotic systems

BIGGS, JAMES DOUGLAS
2015

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.
IMA Conference on Mathematics of Robotics
File in questo prodotto:
File Dimensione Formato  
BIGGJ01-15.pdf

Accesso riservato

Descrizione: Paper
: Publisher’s version
Dimensione 841.35 kB
Formato Adobe PDF
841.35 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11311/1024537
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact