Almost global finite time stabilization of rigid body attitude dynamics

Amit K. Sanyal, Jan Bohn, Anthony M. Bloch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

Stabilization of rigid body attitude motion to a desired attitude in finite time is considered here. Attitude feedback control with finite time convergence has been considered in the past using the ambiguous unit quaternion representation. However, it is known that continuous feedback control with unit quaternion feedback leads to the unstable unwinding phenomenon, which has debilitating effects on convergence of states and control effort expended. This work considers finitetime stabilization of rigid body attitude dynamics using the coordinate-free representation of attitude on the group of rigid body rotations in three-dimensional Euclidean space, SO(3). The feedback control law designed here leads to almost global finite time stabilization of the attitude motion of a rigid body with known attitude dynamics model, to the desired attitude. Almost global finite time stability of this control law is shown using a Morse function as part of a Lyapunov analysis; this Morse function has been previously used for almost global asymptotic stabilization of rigid body attitude motion.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3261-3266
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - Jan 1 2013
Externally publishedYes
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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    Sanyal, A. K., Bohn, J., & Bloch, A. M. (2013). Almost global finite time stabilization of rigid body attitude dynamics. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 3261-3266). [6760381] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760381