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CDC
2010
IEEE

PD+ attitude control of rigid bodies with improved performance

10 years 6 months ago
PD+ attitude control of rigid bodies with improved performance
Abstract-- We address the problem of state feedback attitude control of a rigid body in quaternion coordinate space through a modified PD+ tracking controller. The control law ensures faster convergence to the desired operating point during attitude maneuver, while keeping the gains small for station keeping. A direct consequence is a drop in energy consumption when affected by sensor noise. More precisely, we show uniform asymptotic stability for the system without perturbations and uniform practical asymptotic stability in the presence of unknown, bounded input disturbances. Simulation results illustrate the performance improvement with respect to classic PD+ control, especially in the presence of input perturbations.
Rune Schlanbusch, Antonio Loría, Raymond Kr
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Rune Schlanbusch, Antonio Loría, Raymond Kristiansen, Per Johan Nicklasson
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