Analytical solutions to feedback systems on the special orthogonal group SO(n)
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 5246-5251 p.Conference paper (Refereed)
This paper provides analytical solutions to the closed-loop kinematics of two almost globally exponentially stabilizing attitude control laws on the special orthogonal group SO(n). By studying the general case we give a uniform treatment to the cases of SO(2) and SO(3), which are the most interesting dimensions for application purposes. Working directly with rotation matrices in the case of SO(3) allows us to avoid certain complications which may arise when using local and global many-to-one parameterizations. The analytical solutions provide insight into the transient behaviour of the system and are of theoretical value since they can be used to prove almost global attractiveness of the identity matrix. The practical usefulness of analytical solutions in problems of continuous time actuation subject to piece-wise unavailable or discrete time sensing are illustrated by numerical examples.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 5246-5251 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
Attitude control, Discrete time, Feedback systems, Global attractiveness, Identity matrices, Many-to-one, Rotation matrices, Special orthogonal group, Theoretical values, Mathematical techniques
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-150879DOI: 10.1109/CDC.2013.6760714ISI: 000352223505142ScopusID: 2-s2.0-84902337762ISBN: 978-146735717-3OAI: oai:DiVA.org:kth-150879DiVA: diva2:745730
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
QC 201409112014-09-112014-09-112015-12-08Bibliographically approved