DocumentCode
3592848
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
Volume
1
fYear
1995
Firstpage
515
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478944
Filename
478944
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