Abstract
The delayed feedback control of rigid body attitude motion is addressed where there is an unknown time delay in the feedback measurement. The attitude motion is described on the tangent bundle TSO(3) to globally and uniquely represent the orientation of the rigid body, while a continuous nonlinear delayed feedback control law is proposed for local asymptotic stabilization on TSO(3). For this purpose, we introduce a notion based on the Lyapunov technique, which combines the Morse-Lyapunov method with Lyapunov-Krasovskii technique to yield a suitable Morse-Lyapunov-Krasovskii (M-L-K) functional, from which the stability conditions and proper control gain matrices are obtained in terms of linear matrix inequalities (LMIs). Simulations illustrate the performance of the proposed control scheme.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 81-86 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 48 |
| Issue number | 12 |
| DOIs | |
| State | Published - Jan 1 2015 |
| Externally published | Yes |
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Keywords
- Attitude control
- LMIs
- Lyapunov-Krasovskii functional
- time-delayed system
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Delayed Feedback Asymptotic Stabilization of Rigid Body Attitude Motion for Large Rotations. / Samiei, Ehsan; Izadi, Maziar; Sanyal, Amit; Butcher, Eric A.
In: IFAC-PapersOnLine, Vol. 48, No. 12, 01.01.2015, p. 81-86.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Delayed Feedback Asymptotic Stabilization of Rigid Body Attitude Motion for Large Rotations
AU - Samiei, Ehsan
AU - Izadi, Maziar
AU - Sanyal, Amit
AU - Butcher, Eric A.
PY - 2015/1/1
Y1 - 2015/1/1
N2 - The delayed feedback control of rigid body attitude motion is addressed where there is an unknown time delay in the feedback measurement. The attitude motion is described on the tangent bundle TSO(3) to globally and uniquely represent the orientation of the rigid body, while a continuous nonlinear delayed feedback control law is proposed for local asymptotic stabilization on TSO(3). For this purpose, we introduce a notion based on the Lyapunov technique, which combines the Morse-Lyapunov method with Lyapunov-Krasovskii technique to yield a suitable Morse-Lyapunov-Krasovskii (M-L-K) functional, from which the stability conditions and proper control gain matrices are obtained in terms of linear matrix inequalities (LMIs). Simulations illustrate the performance of the proposed control scheme.
AB - The delayed feedback control of rigid body attitude motion is addressed where there is an unknown time delay in the feedback measurement. The attitude motion is described on the tangent bundle TSO(3) to globally and uniquely represent the orientation of the rigid body, while a continuous nonlinear delayed feedback control law is proposed for local asymptotic stabilization on TSO(3). For this purpose, we introduce a notion based on the Lyapunov technique, which combines the Morse-Lyapunov method with Lyapunov-Krasovskii technique to yield a suitable Morse-Lyapunov-Krasovskii (M-L-K) functional, from which the stability conditions and proper control gain matrices are obtained in terms of linear matrix inequalities (LMIs). Simulations illustrate the performance of the proposed control scheme.
KW - Attitude control
KW - LMIs
KW - Lyapunov-Krasovskii functional
KW - time-delayed system
UR - http://www.scopus.com/inward/record.url?scp=84975519570&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84975519570&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2015.09.357
DO - 10.1016/j.ifacol.2015.09.357
M3 - Article
AN - SCOPUS:84975519570
VL - 48
SP - 81
EP - 86
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 12
ER -