Sliding Motions on SO(3), Sliding Subgroups

被引：0

作者：

Gomez Cortes, Gian C. ^{[1
]}

Castanos, Fernando ^{[1
]}

Davila, Jorge ^{[2
]}

机构：

[1] IPN, Cinvestav, Automat Control Dept, Mexico City, DF, Mexico

[2] UPT, ESIME, Sect Grad Studies & Res IPN, Mexico City, DF, Mexico

来源：

2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a sliding surface for systems on the Lie group SO(3) x R-3. The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable equilibrium. The sliding surface is used to design a sliding-mode controller for the attitude control of rigid bodies. The closed-loop system is robust against matched disturbances and does not exhibit the undesired unwinding phenomenon.

引用

页码：6953 / 6958

页数：6

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