Homogeneous Finite-time Tracking Control ...
Type de document :
Communication dans un congrès avec actes
Titre :
Homogeneous Finite-time Tracking Control on Lie Algebra so(3)
Auteur(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 ]
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 ]
Titre de la manifestation scientifique :
ECC 2022 - European Control Conference
Ville :
London
Pays :
Royaume-Uni
Date de début de la manifestation scientifique :
2022-07-12
Discipline(s) HAL :
Informatique [cs]/Automatique
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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