Almost global stochastic stabilization of attitude motion with unknown multiplicative diffusion coefficient

Ehsan Samiei, Amit Sanyal, Eric A. Butcher

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

Abstract

In this paper, we design a geometric stochastic feedback controller to almost globally asymptotically stabilize the rigid body attitude in probability. The attitude motion is represented on the tangent bundle of SO(3) and is subject to an stochastic input torque with an unknown multiplicative diffusion coefficient. In addition, we assume that the variance parameter of the stochastic input torque is unknown. We, first, interpret the attitude dynamics in the Ito sense and the Frobenius norm of the unknown diffusion coefficient is approximated by an unknown bounded scalar parameter. An adaptive backstepping method and a suitable Morse-Lyapunov (M-L) function candidate is then employed to obtain a nonlinear continuous stochastic feedback control law. The almost global asymptotic stability of system is guaranteed in probability and the control gain matrix is obtained through solving LMI feasibility problem. A simulation example is performed to demonstrate the effectiveness of the proposed control scheme on TSO(3).

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103896
StatePublished - Jan 1 2016
EventAIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States
Duration: Jan 4 2016Jan 8 2016

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2016
CountryUnited States
CitySan Diego
Period1/4/161/8/16

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering

Cite this

Samiei, E., Sanyal, A., & Butcher, E. A. (2016). Almost global stochastic stabilization of attitude motion with unknown multiplicative diffusion coefficient. In AIAA Guidance, Navigation, and Control Conference American Institute of Aeronautics and Astronautics Inc, AIAA.