Name
Abstract | ||
|---|---|---|
The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Often, quaternion-based feedbacks require an additional mechanism that lifts a continuous attitude path to the unit quaternion space. When this mechanism is memoryless, it has a limited domain where it remains injective and leads to discontinuities when used globally. To remedy this limitation, we propose a hybrid-dynamic algorithm for lifting a continuous attitude path to the unit quaternion space. We show that this hybrid-dynamic mechanism allows us to directly translate quaternion-based controllers and their asymptotic stability properties (obtained in the unit-quaternion space) to the actual rigid-body-attitude space. We also show that when quaternion-based controllers are not designed to account for the double covering of the rigid-body-attitude space by a unit-quaternion parameterization, they can give rise to the unwinding phenomenon, which we characterize in terms of the projection of asymptotically stable sets. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ACC.2011.5991127 | American Control Conference |
Keywords | Field | DocType |
asymptotic stability,attitude control,feedback,asymptotic stability properties,asymptotically stability,feedback control laws,hybrid dynamic algorithm,hybrid dynamic mechanism,pervasive representation,quaternion based attitude control,quaternion based controllers,quaternion based feedbacks,unit quaternion,unwinding phenomenon,stable set,stability analysis,trajectory,quaternions,rigid body,heuristic algorithm,feedback control | Classification of discontinuities,Injective function,Parametrization,Computer science,Control theory,Quaternion,Attitude control,Control engineering,Exponential stability,Trajectory,Stability theory | Conference |
ISSN | ISBN | Citations |
0743-1619 | 978-1-4577-0080-4 | 12 |
PageRank | References | Authors |
0.92 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mayhew, C.G. | 1 | 125 | 11.53 |
| Ricardo G. Sanfelice | 2 | 216 | 27.88 |
| andrew r teel | 3 | 566 | 71.55 |