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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Guerrero-Castellanos, J.F. Rifai, H. Marchand, N. Poulin, G. |
| Copyright Year | 2009 |
| Description | Author affiliation: LUSSI, ENIVL, Rue de la Chocolaterie, BP 3410, 41034 Blois cedex, France (Poulin, G.) || Polytechnic University of Puebla, Department of Mechatronics Engineering, 72640 Juan C. Bonilla, Puebla, Mexico (Guerrero-Castellanos, J.F.) || GIPSA-Lab, Control Systems Department (former LAG), UMR CNRS 5216-INPG-UJF, ENSIEG BP 46, Saint Martin d'Heres 38402, France (Rifai, H.; Marchand, N.) |
| Abstract | Practically, the attitude control of rigid bodies necessitates the estimation of the orientation and the measurement of the angular velocity. Consequently, the computational cost of the control loop is relatively high. In the present paper, two bounded control laws for attitude stabilization are proposed; the first one is designed without attitude estimation but using angular velocities measurements while the second control law does not even need angular velocity measurement. Based on saturation functions, the control laws are highly simple. Only the measurements of at least two non-collinear directional sensors are needed, which makes this new strategy suitable for embedded implementations. Moreover, the control laws are bounded, preventing the saturation of actuators and increasing their efficiency. The global convergence of the control law is proved. Simulations with some robustness tests (sensors noise and external disturbances) are performed. |
| Starting Page | 2203 |
| Ending Page | 2209 |
| File Size | 203528 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913344 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Velocity measurement Angular velocity Angular velocity control Attitude control Computational efficiency Actuators Convergence Noise robustness Testing Performance evaluation |
| Content Type | Text |
| Resource Type | Article |
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