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Continuous quaternion based almost global attitude tracking with LMI multi-objective tuning

Thomas Conord 1 Dimitri Peaucelle 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
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.
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https://hal.laas.fr/hal-03118544
Contributor : Thomas Conord <>
Submitted on : Friday, January 22, 2021 - 12:26:04 PM
Last modification on : Tuesday, April 13, 2021 - 9:44:02 AM

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  • HAL Id : hal-03118544, version 1

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Thomas Conord, Dimitri Peaucelle. Continuous quaternion based almost global attitude tracking with LMI multi-objective tuning. IEEE Conference on Control Technology and Applications (CCTA 2021), Aug 2021, San Diego, United States. ⟨hal-03118544⟩

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