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- Greiff, MarcusLund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH (author)
Attitude Control on SU(2) : Stability, Robustness, and Similarities
- Article/chapterEnglish2021
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- 2021
- 7 s.
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- LIBRIS-ID:oai:lup.lub.lu.se:2566b3a9-9308-4d9f-b7ea-18b6ba066043
- https://lup.lub.lu.se/record/2566b3a9-9308-4d9f-b7ea-18b6ba066043URI
- https://doi.org/10.23919/ACC50511.2021.9482945DOI
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- Language:English
- Summary in:English
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- This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is given for the controllers on SU(2), which is illustrated by simulation examples.
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- Sun, ZhiyongEindhoven University of Technology (author)
- Robertsson, AndersLund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH(Swepub:lu)cont-aro (author)
- Institutionen för reglerteknikInstitutioner vid LTH (creator_code:org_t)
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- In:2021 American Control Conference, ACC 20212021-May, s. 1693-16990743-16199781665441971
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