NDLI: Almost global finite time stabilization of rigid body attitude dynamics

Content Provider	IEEE Xplore Digital Library
Author	Sanyal, A.K. Bohn, J. Bloch, A.M.
Copyright Year	2013
Description	Author affiliation: Math., Univ. of Michigan, Ann Arbor, MI, USA (Bloch, A.M.) \|\| Mech. & Aerosp. Eng., New Mexico State Univ., Las Cruces, NM, USA (Sanyal, A.K.; Bohn, J.)
Abstract	Stabilization of rigid body attitude motion to a desired attitude in finite time is considered here. Attitude feedback control with finite time convergence has been considered in the past using the ambiguous unit quaternion representation. However, it is known that continuous feedback control with unit quaternion feedback leads to the unstable unwinding phenomenon, which has debilitating effects on convergence of states and control effort expended. This work considers finite-time stabilization of rigid body attitude dynamics using the coordinate-free representation of attitude on the group of rigid body rotations in three-dimensional Euclidean space, SO(3). The feedback control law designed here leads to almost global finite time stabilization of the attitude motion of a rigid body with known attitude dynamics model, to the desired attitude. Almost global finite time stability of this control law is shown using a Morse function as part of a Lyapunov analysis; this Morse function has been previously used for almost global asymptotic stabilization of rigid body attitude motion.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	3261
Ending Page	3266
File Size	213136
Page Count	6
File Format	PDF
ISBN	9781467357142
ISSN	07431546
e-ISBN	9781467357173
DOI	10.1109/CDC.2013.6760381
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Attitude control Torque Convergence Quaternions Angular velocity Aerodynamics Asymptotic stability
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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