Sökning: onr:"swepub:oai:lup.lub.lu.se:e09f005e-ec3b-4d64-b403-2c95338b02a0" >
Tuning and Analysis...
Tuning and Analysis of Geometric Tracking Controllers on SO(3)
-
- Greiff, Marcus (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
- Sun, Zhiyong (författare)
- Eindhoven University of Technology
-
- Robertsson, Anders (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
(creator_code:org_t)
- 2021
- 2021
- Engelska 7 s.
-
Ingår i: 2021 American Control Conference, ACC 2021. - 0743-1619. - 9781665441971 ; 2021-May, s. 1674-1680
- Relaterad länk:
-
http://dx.doi.org/10...
-
visa fler...
-
https://lup.lub.lu.s...
-
https://doi.org/10.2...
-
visa färre...
Abstract
Ämnesord
Stäng
- This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the associated cost function. The soundness of this approach is illustrated by comparison to an interior-point method. The algorithm is subsequently used to provide insights for the tuning of the considered controllers, and finally demonstrated by a closed-loop simulation example.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
Hitta via bibliotek
Till lärosätets databas