Title :
A passivity approach to attitude stabilization using nonredundant kinematic parameterizations
Author :
Tsiotras, Panagiotis
Author_Institution :
Dept. of Mech., Aerosp. & Nucl. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
The author previously (Symposium on Automatic Control in Aerospace, p. 316-21, 1994) showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant, three-dimensional set of kinematic parameters. In this paper it is shown, using the inherent passivity properties of the system, that these results can be extended to stabilizing control laws without any angular velocity measurements. A numerical example demonstrates the theoretical results
Keywords :
asymptotic stability; attitude control; kinematics; attitude motion; attitude stabilization; global asymptotic stabilization; linear controllers; nonredundant 3D kinematic parameter set; nonredundant kinematic parameterizations; passivity approach; rigid body; Angular velocity; Attitude control; Control systems; Equations; Feedback control; Kinematics; Linear feedback control systems; Lyapunov method; Motion control; Velocity measurement;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478944
