 |
HAL-LAAS Open Archive Laboratory for Analysis and Architecture of Systems |  |
Conference papers
Continuous quaternion based almost global attitude tracking with LMI multi-objective tuning
Abstract : This paper considers the attitude control problem of a generic rotating 3 degrees of freedom fully actuated rigid object. The specific studied problem is the deviation control of this object around a theoretically feasible attitude trajectory. The rotation motion has an intrinsic non linear behaviour (trigonometric, 2π-periodicity) that may lead to build non linear and hybrid controllers. This paper considers the opportunity to use the quaternion framework to build a continuous non linear controller that reaches an almost global asymptotical stability.
https://hal.laas.fr/hal-03118544
Contributor : Thomas Conord <>
Submitted on : Friday, January 22, 2021 - 12:26:04 PM
Last modification on : Wednesday, June 9, 2021 - 10:00:20 AM
Long-term archiving on: : Friday, April 23, 2021 - 7:02:16 PM
Contributor : Thomas Conord <>
Submitted on : Friday, January 22, 2021 - 12:26:04 PM
Last modification on : Wednesday, June 9, 2021 - 10:00:20 AM
Long-term archiving on: : Friday, April 23, 2021 - 7:02:16 PM
File
Continuous-Attitude-Control-IE...
Files produced by the author(s)