Title :
Attitude Control Based on the Lie-group Structure of Unit Quaternions
Author :
Dapeng, Han ; Qing, Wei ; Zexiang, Li
Author_Institution :
Nat. Univ. of Defense Technol., Changsha
Abstract :
This paper focuses on a new approach for the attitude control problem. The control laws exploit the Lie-group structure of unit quaternions. Stability analysis relies on an appropriate Lyapunov function. Set point control and tracking control are investigated respectively. Using this approach, not only design and analysis are simplified, but also global approximate exponential convergence is guaranteed. The control laws are demonstrated to be effective by simulation results.
Keywords :
Lie groups; Lyapunov methods; attitude control; control system analysis; control system synthesis; stability; tracking; Lie-group structure; Lyapunov function; attitude control; control design; global approximate exponential convergence; set point control; stability analysis; tracking control; unit quaternions; Angular velocity; Automatic control; Automation; Convergence; Lyapunov method; Quaternions; Satellites; Space vehicles; Stability analysis; Underwater vehicles; Attitude Control; Lie Group; Unit Quaternion;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347101
