• DocumentCode
    133094
  • Title

    Discontinuous adaptive control of attitude of rigid body by using minimum projection method

  • Author

    Hatayama, Tomoaki ; Nakamura, Hajime

  • Author_Institution
    Dept. of Electr. Eng., Tokyo Univ. of Sci., Noda, Japan
  • fYear
    2014
  • fDate
    9-12 Sept. 2014
  • Firstpage
    1424
  • Lastpage
    1429
  • Abstract
    An attitude of a rigid body is defined on SO(3); this fact leads to problems in attitude control of a rigid body. We propose a discontinuous adaptive control law for global asymptotic stabilization of the attitude of the rigid body by minimum projection method. We prove that the system always has Carathéodory solutions under our adaptive control method.
  • Keywords
    adaptive control; aerospace robotics; asymptotic stability; attitude control; differential equations; helicopters; mobile robots; sampled data systems; Carathéodory solutions; asymptotic stabilization; discontinuous adaptive control law; four-rotor aerial robot; minimum projection method; rigid body attitude control; Adaptive control; Aerospace electronics; Attitude control; Lyapunov methods; Manifolds; Quaternions; Switches; Adaptive and Optimal Control; Guidance and Flight Control; Nonlinear Control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE Annual Conference (SICE), 2014 Proceedings of the
  • Conference_Location
    Sapporo
  • Type

    conf

  • DOI
    10.1109/SICE.2014.6935275
  • Filename
    6935275
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=133094