@inproceedings{cfd72cbb78384d55b342ec540c652353,
title = "Finite-time attitude stabilization for rigid bodies without angular velocity measurement",
abstract = "This paper investigates the finite-time output feedback stabilization of rigid body attitude dynamics without velocity measurement on the special orthogonal group ( SO(3)). We first transform the stabilization problem on SO(3) into the stabilization issue on its Lie algebra ( so(3)) via the logarithm map. The proposed approach consists of exponential coordinates of SO(3) and the output of a nonlinear filter without the knowledge of the control input. Then the finite-time stability of the resulting closed-loop system is proven based on Lyapunov stability theory and geometric homogeneity technique. Since the set of singularities is zero measure, the proposed velocity-free feedback controller guarantees almost global finite-time stability, which is as strong as the topology of SO(3) can permit. Finally, simulations demonstrate the effectiveness of the proposed approach.",
keywords = "Finite-time stabilization, Lie group and Lie algebra, rigid body attitude dynamics, the logarithm map",
author = "Shi, \{Xiao Ning\} and Zhang, \{Yong An\} and Di Zhou",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7553172",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "736--741",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}