Discrete Finite-time Stable Attitude Tracking Control of Unmanned Vehicles on SO(3)

Reza Hamrah, Amit K. Sanyal, Sasi Prabhakaran Viswanathan

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

Abstract

This paper presents a finite-time stable (FTS) attitude tracking control scheme in discrete time for an unmanned vehicle. The attitude tracking control scheme guarantees discrete-time stability of the feedback system in finite time. This scheme is developed in discrete time as it is more convenient for onboard computer implementation and guarantees stability irrespective of sampling period. Finite-time stability analysis of the discrete-time tracking control is carried out using discrete Lyapunov analysis. This tracking control scheme ensures stable convergence of attitude tracking errors to the desired trajectory in finite time. The advantages of finite-time stabilization in discrete time over finite-time stabilization of a sampled continuous time tracking control system is addressed in this paper through a numerical comparison. This comparison is performed using numerical simulations on continuous and discrete FTS tracking control schemes applied to an unmanned vehicle model.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages824-829
Number of pages6
ISBN (Electronic)9781538682661
DOIs
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
Volume2020-July
ISSN (Print)0743-1619

Conference

Conference2020 American Control Conference, ACC 2020
CountryUnited States
CityDenver
Period7/1/207/3/20

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Hamrah, R., Sanyal, A. K., & Viswanathan, S. P. (2020). Discrete Finite-time Stable Attitude Tracking Control of Unmanned Vehicles on SO(3). In 2020 American Control Conference, ACC 2020 (pp. 824-829). [9147657] (Proceedings of the American Control Conference; Vol. 2020-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC45564.2020.9147657