Title :
In the large certainty equivalence control with quaternion measurements
Author :
Schlanbusch, Rune ; Grotli, Esten Ingar
Author_Institution :
Dept. of Technol., Narvik Univ. Coll., Narvik, Norway
Abstract :
In this paper, we solve the in the large control problem of rigid bodies with quaternion measurements only, by applying any hybrid certainty equivalence tracking controller satisfying a set of certain assumptions, along with a in the large hybrid nonlinear velocity observer, by using theory of cascades. Strictly speaking, we show that the origin of the class of proposed controllers in closed loop with the observer is uniformly asymptotically stable in the large1, i.e. for all available initial conditions associated with the quaternion space. Simulation results for the proposed scheme are presented with the particular case of the PD+ controller, showing that all states converge as expected from our theoretical findings.
Keywords :
PD control; asymptotic stability; cascade control; closed loop systems; continuous systems; convergence; discrete systems; equivalence classes; nonlinear control systems; observers; tracking; velocity control; PD+ controller; cascade theory; closed loop controller; hybrid certainty equivalence tracking controller; large certainty equivalence control; large hybrid nonlinear velocity observer; quaternion measurement; quaternion space; rigid body; state convergence; uniformly asymptotic stability; Angular velocity; Asymptotic stability; Attitude control; Observers; Quaternions; Switches;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608771