Application of a new Lyapunov function to global adaptive attitude tracking

Author

Koditschek, Daniel E.

Author_Institution

Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA

fYear

1988

fDate

7-9 Dec 1988

Firstpage

63

Abstract

A new family of strict global Lyapunov functions for mechanical systems is applied to achieve an adaptive version of the inverse dynamics algorithm in the case when the inertial parameters of the rigid body are not known a priori. Specifically, the author considers the problem of tracking a desired signal on a non-Euclidean space-the Lie group SO(3)-via a completely actuated mechanical system with all states directly available. The resulting closed-loop adaptive system is shown to be stable, and the rigid-body phase errors are shown to converge to the limit trajectories of the nonadaptive algorithm

Keywords

Lyapunov methods; adaptive control; closed loop systems; multidimensional systems; position control; Lie group SO(3); Lyapunov function; closed loop systems; global adaptive attitude tracking; inverse dynamics; mechanical systems; multidimensional systems; position control; rigid-body phase errors; Angular velocity; Attitude control; Control systems; Convergence; Heuristic algorithms; Lyapunov method; Mechanical systems; Nonlinear dynamical systems; State-space methods; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1988., Proceedings of the 27th IEEE Conference on

Conference_Location

Austin, TX

Type

conf

DOI

10.1109/CDC.1988.194270

Filename

194270