Skip navigation
Skip navigation

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback

Bertrand, Sylvain; Hamel, Tarek; Piet-Lahanier, Helene; Mahony, Robert

Description

A solution to the attitude tracking problem of rigid bodies with kinematic representation directly on the special orthogonal group SO(3) of rotation matrices is proposed. A dynamic partial state feedback controller is designed to address the case where no angular velocity measurements are available. In addition, the gains in the control design can be tuned in advance to ensure that the torque inputs satisfy arbitrary saturation bounds. Stability conditions are provided based on Lyapunov...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
URI: http://hdl.handle.net/1885/23911
Source: Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009
DOI: 10.1109/CDC.2009.5400702

Download

File Description SizeFormat Image
01_Bertrand_Attitude_tracking_of_rigid_2009.pdf1.07 MBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  23 August 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator