Homogeneous Finite-time Tracking Control on Lie Algebra so(3)

Zhou, Yu; Polyakov, Andrey; Zheng, Gang

Document type :

Communication dans un congrès avec actes

Title :

Homogeneous Finite-time Tracking Control on Lie Algebra so(3)

Author(s) :

Zhou, Yu [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Polyakov, Andrey [Auteur]

Finite-time control and estimation for distributed systems [VALSE]
Zheng, Gang [Auteur]

Deformable Robots Simulation Team [DEFROST ]

Conference title :

ECC 2022 - European Control Conference

City :

London

Country :

Royaume-Uni

Start date of the conference :

2022-07-12

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [en]

An attitude tracking problem for a full-actuated rigid body in 3-D is studied using a model of rotation dynamics on the Lie group SO(3). A generalized homogeneous control is adopted to achieve tracking of a smooth attitude ...
Show more >An attitude tracking problem for a full-actuated rigid body in 3-D is studied using a model of rotation dynamics on the Lie group SO(3). A generalized homogeneous control is adopted to achieve tracking of a smooth attitude trajectory in a finite-time. The attitude dynamics on the Lie algebra so(3) is utilized to design the homogeneous control, since SO(3) is not a vector space. A switch control is proposed for achieving global finite-time tracking by combining a global asymptotic control with local homogeneous control. The simulations illustrate the performance of the proposed control algorithm.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :