Nonlinear attitude control of rigid body with bounded control input and velocity-free

Qiang Tang; Yan Wang; Xinglin Chen; Yongjun Lei

doi:10.1109/ROBIO.2009.5420439

Nonlinear attitude control of rigid body with bounded control input and velocity-free

Qiang Tang^*
, Yan Wang
, Xinglin Chen
, Yongjun Lei

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
CAS - Beijing Institute of Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper a result on attitude tracking problem of mobile robot without velocity measurement and within the physical limits of actuator by the development of a novel Lyapunov function based on quaternion feedback is presented. The attitude of the rigid body is represented by unit quaternion, and introduces an auxiliary dynamical system whose output is used in the attitude tracking error. The analysis of the method shows that our control law guarantees almost global asymptotic stability in the case of bounded control input, and simulation results demonstrate that the controller can be used to perform large angle maneuver with short settling time and good steady-state performance torque.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	2221-2226
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420439
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

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10.1109/ROBIO.2009.5420439

Cite this

@inproceedings{1620c91e6b524c8e80a7ebf4493613ea,

title = "Nonlinear attitude control of rigid body with bounded control input and velocity-free",

abstract = "In this paper a result on attitude tracking problem of mobile robot without velocity measurement and within the physical limits of actuator by the development of a novel Lyapunov function based on quaternion feedback is presented. The attitude of the rigid body is represented by unit quaternion, and introduces an auxiliary dynamical system whose output is used in the attitude tracking error. The analysis of the method shows that our control law guarantees almost global asymptotic stability in the case of bounded control input, and simulation results demonstrate that the controller can be used to perform large angle maneuver with short settling time and good steady-state performance torque.",

author = "Qiang Tang and Yan Wang and Xinglin Chen and Yongjun Lei",

year = "2009",

doi = "10.1109/ROBIO.2009.5420439",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "2221--2226",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Tang, Q, Wang, Y, Chen, X & Lei, Y 2009, Nonlinear attitude control of rigid body with bounded control input and velocity-free. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420439, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 2221-2226, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420439

Nonlinear attitude control of rigid body with bounded control input and velocity-free. / Tang, Qiang; Wang, Yan; Chen, Xinglin et al.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 2221-2226 5420439 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tang, Qiang

AU - Wang, Yan

AU - Chen, Xinglin

AU - Lei, Yongjun

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Y1 - 2009

N2 - In this paper a result on attitude tracking problem of mobile robot without velocity measurement and within the physical limits of actuator by the development of a novel Lyapunov function based on quaternion feedback is presented. The attitude of the rigid body is represented by unit quaternion, and introduces an auxiliary dynamical system whose output is used in the attitude tracking error. The analysis of the method shows that our control law guarantees almost global asymptotic stability in the case of bounded control input, and simulation results demonstrate that the controller can be used to perform large angle maneuver with short settling time and good steady-state performance torque.

AB - In this paper a result on attitude tracking problem of mobile robot without velocity measurement and within the physical limits of actuator by the development of a novel Lyapunov function based on quaternion feedback is presented. The attitude of the rigid body is represented by unit quaternion, and introduces an auxiliary dynamical system whose output is used in the attitude tracking error. The analysis of the method shows that our control law guarantees almost global asymptotic stability in the case of bounded control input, and simulation results demonstrate that the controller can be used to perform large angle maneuver with short settling time and good steady-state performance torque.

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DO - 10.1109/ROBIO.2009.5420439

M3 - 会议稿件

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SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

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EP - 2226

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

Nonlinear attitude control of rigid body with bounded control input and velocity-free

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