Geometric Attitude Control of Rigid Body with State Constraints

被引：0

作者：

Nayak, Manish Kumar ^{[1
]}

Srikant, Sukumar ^{[2
]}

机构：

[1] Indian Inst Technol, Aerosp Engn, Mumbai, Maharashtra, India

[2] Indian Inst Technol, Syst & Control Engn, Mumbai, Maharashtra, India

来源：

2019 FIFTH INDIAN CONTROL CONFERENCE (ICC) | 2019年

关键词：

STABILIZATION; DYNAMICS;

D O I：

10.1109/indiancc.2019.8715639

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A geometric controller for a rigid body has been proposed to track the desired attitude trajectory, while adhering to strict orientation constraints throughout the maneuver. The attitude dynamics and proposed controller are developed on the special orthogonal group, SO(3) to avoid singularities and winding associated with local parametrizations.

引用

页码：125 / 129

页数：5

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