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：
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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.
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页码：6953 / 6958
页数：6
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