Paper Info
Title
Robust global asymptotic stabilization of a 6-DOF rigid body by quaternion-based hybrid feedback
Abstract
The problem of robust, global asymptotic stabilization of a rigid body is hampered by major topological obstructions. These obstructions prevent a continuous state feedback from solving the problem and also lead to robustness issues when (non-hybrid) discontinuous feedback is applied. In this paper, we extend a hybrid control strategy proposed in a companion paper for robust, global asymptotic stabilization of rigid body attitude to the case where translation is also considered. Through Lyapunov analysis, we develop quaternion-based hysteretic hybrid control laws in the kinematic and dynamic settings. In the dynamic setting, two control laws are derived: one from an energy-based Lyapunov function and one by backstepping. Robustness to measurement noise is asserted by employing recently developed stability theory for hybrid systems. A comparison between discontinuous and hysteretic feedback under measurement noise is shown in simulation.
Year
DOI
Venue
2009
10.1109/CDC.2009.5400338
Shanghai
Keywords
Field
DocType
Lyapunov methods,asymptotic stability,attitude control,feedback,mobile robots,position control,robot dynamics,robot kinematics,robust control,telerobotics,underwater vehicles,6-DOF rigid body,Lyapunov analysis,backstepping,discontinuous feedback,dynamic setting,energy-based Lyapunov function,hybrid control strategy,hysteretic feedback,kinematic setting,quaternion-based hybrid feedback,robust global asymptotic stabilization
Lyapunov function,Backstepping,Computer science,Control theory,Robustness (computer science),Rigid body,Exponential stability,Robust control,Hybrid system,Stability theory
Conference
ISSN
ISBN
Citations 
0191-2216 E-ISBN : 978-1-4244-3872-3
978-1-4244-3872-3
7
PageRank 
References 
Authors
0.98
7
3
Name
Order
Citations
PageRank
Mayhew, C.G.112511.53
Ricardo G. Sanfelice221627.88
andrew r teel356671.55