Rigid Body Attitude Control Using a Single Vector Measurement and Gyro

2012 ◽  
Vol 57 (5) ◽  
pp. 1273-1279 ◽  
Author(s):  
A. Khosravian ◽  
M. Namvar
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Body Attitude ◽  
Vector Measurement

Rigid body attitude control with inclinometer and low-cost gyro measurements

2003 ◽  
Vol 49 (2) ◽  
pp. 151-159 ◽  
Author(s):  
Maruthi R. Akella ◽  
James T. Halbert ◽  
Gnana R. Kotamraju
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Low Cost ◽  
Body Attitude

scholarly journals Geometric Collocation Method on SO(3) with Application to Optimal Attitude Control of a 3D Rotating Rigid Body

2015 ◽  
Vol 2015 ◽  
pp. 1-14
Author(s):  
Xiaojia Xiang ◽  
Lizhen Wu ◽  
Lincheng Shen ◽  
Jie Li
Keyword(s):  
Rigid Body ◽  
Numerical Method ◽  
Lie Algebra ◽  
Collocation Method ◽  
Attitude Control ◽  
Variational Integrator ◽  
Body Attitude ◽  
Pseudo Spectral Method ◽  
Pseudo Spectral ◽  
Configuration Equation

The collocation method is extended to the special orthogonal group SO(3) with application to optimal attitude control (OAC) of a rigid body. A left-invariant rigid-body attitude dynamical model on SO(3) is established. For the left invariance of the attitude configuration equation in body-fixed frame, a geometrically exact numerical method on SO(3), referred to as the geometric collocation method, is proposed by deriving the equivalent Lie algebra equation inso(3)of the left-invariant configuration equation. When compared with the general Gauss pseudo-spectral method, the explicit RKMK, and Lie group variational integrator having the same order and stepsize in numerical tests for evolving a free-floating rigid-body attitude dynamics, the proposed method is higher in accuracy, time performance, and structural conservativeness. In addition, the numerical method is applied to solve a constrained OAC problem on SO(3). The optimal control problem is transcribed into a nonlinear programming problem, in which the equivalent Lie algebra equation is being considered as the defect constraints instead of the configuration equation. The transcription method is coordinate-free and does not need chart switching or special handling of singularities. More importantly, with the numerical advantage of the geometric collocation method, the proposed OAC method may generate satisfying convergence rate.

scholarly journals Port-Hamiltonian Formulation of Rigid-Body Attitude Control

2015 ◽  
Vol 48 (13) ◽  
pp. 164-169 ◽  
Author(s):  
Paolo Forni ◽  
Dimitri Jeltsema ◽  
Gabriel A.D. Lopes
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Hamiltonian Formulation ◽  
Body Attitude

scholarly journals Rigid-body attitude control guaranteeing finite-time convergence

2020 ◽  
pp. 002029402095247
Author(s):  
Shenhao Li ◽  
Taotao Zhang
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Attitude Control ◽  
Simple Structure ◽  
Fault Tolerant ◽  
Rotation Velocity ◽  
Sliding Surface ◽  
Body Attitude ◽  
Velocity Constraint

This study proposes an effective solution to the problem of attitude control for a rigid body satisfying angular velocity constraint as well as providing fault-tolerant capability. More specifically, a finite-time sliding surface containing attitude quaternion and angular velocity is first defined. Then, a novel tan-type prescribed performance control (PPC) with simple structure is presented to confine the sliding surface within a predefined performance boundary. Not only the attitude quaternion and angular velocity are indirectly constrained, but also it is thoroughly proved that the rotation velocity constraint is met even when severe actuators faults occur. The closed-loop attitude system is confirmed to be finite-time stable in the sense of Lyapunov stability. Numerical simulations clearly illustrate the effectiveness and usefulness of the suggested finite-time PPC despite actuator faults and environmental disturbances.

Sign in / Sign up

Export Citation Format

Share Document