Name
Title | ||
|---|---|---|
On the non-robustness of inconsistent quaternion-based attitude control systems using memoryless path-lifting schemes |
Abstract | ||
|---|---|---|
The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Quaternion-based feedback control laws that are inconsistent (i.e. do not have a unique value for a given attitude) require an additional mechanism that lifts a continuous attitude trajectory to the unit quaternion space. Lifting mechanisms that are memoryless, for example, selecting the quaternion having positive scalar component, have a limited domain where they remain injective and, when used globally, introduce discontinuities into the closed-loop system. We show that such discontinuities can be exploited by an arbitrarily small measurement disturbance to stabilize attitudes far from the desired attitude and destroy "global" attractivity properties. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ACC.2011.5991359 | American Control Conference |
Keywords | DocType | ISSN |
attitude control,control system analysis,control system synthesis,feedback,attitude trajectory,feedback control law analysis,feedback control law design,inconsistent quaternion-based attitude control,memoryless path-lifting scheme,rigid-body attitude representation,feedback control,rigid body,lifting scheme | Conference | 0743-1619 |
ISBN | Citations | PageRank |
978-1-4577-0080-4 | 4 | 0.73 |
References | Authors | |
7 | 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 |