Title :
Hybrid control of rigid-body attitude with synergistic potential functions
Author :
Mayhew, C.G. ; Teel, A.R.
Author_Institution :
Robert Bosch Res. & Technol. Center, Palo Alto, CA, USA
fDate :
June 29 2011-July 1 2011
Abstract :
Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a "synergistic" family of potential functions and their natural feedbacks to achieve global asymptotic stability of a desired attitude with robustness to small perturbations including measurement noise. We illustrate the results via simulation.
Keywords :
asymptotic stability; attitude control; feedback; robust control; global asymptotic stabilization; hybrid control; measurement noise; rigid-body attitude control; robustness; smooth feedback; synergistic potential function; Asymptotic stability; Attitude control; Hybrid power systems; Potential energy; Switches; Torque;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991126
