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Asymptotic and finite-time almost global attitude tracking: Representations free approach
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
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2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 3126-3131, article id 8550190Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on SO(3). Hence in this work, we propose some control protocols achieving almost global tracking asymptotically and in finite time, respectively. In these protocols, no world frame is needed and only relative state information are requested. For finitetime tracking case, Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 3126-3131, article id 8550190
Keywords [en]
Agents and autonomous systems, Attitude tracking, Nonlinear systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241405DOI: 10.23919/ECC.2018.8550190Scopus ID: 2-s2.0-85059823976ISBN: 9783952426982 (print)OAI: oai:DiVA.org:kth-241405DiVA, id: diva2:1281081
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 201816th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-01-21Bibliographically approved

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Wei, JieqiangDimarogonas, Dimos V.Sandberg, Henrik

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Wei, JieqiangVerginis, ChristosDimarogonas, Dimos V.Sandberg, HenrikJohansson, Karl Henrik
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