Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque

Ehsan Samiei, Maziar Izadi, Sasi P. Viswanathan, Amit Sanyal, Eric A. Butcher

Research output: Contribution to journalConference article

8 Citations (Scopus)

Abstract

This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).

Original languageEnglish (US)
Article number7139034
Pages (from-to)428-433
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Fingerprint

Gain control
Torque
Stabilization
Lyapunov functions
Feedback control
Stochastic systems
Asymptotic stability
Kinematics
Differential equations
Controllers
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. / Samiei, Ehsan; Izadi, Maziar; Viswanathan, Sasi P.; Sanyal, Amit; Butcher, Eric A.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139034, 01.01.2015, p. 428-433.

Research output: Contribution to journalConference article

Samiei, Ehsan ; Izadi, Maziar ; Viswanathan, Sasi P. ; Sanyal, Amit ; Butcher, Eric A. / Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. In: Proceedings - IEEE International Conference on Robotics and Automation. 2015 ; Vol. 2015-June, No. June. pp. 428-433.
@article{1ea4ac8dc54b4e879de02febdc2b1697,
title = "Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque",
abstract = "This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).",
author = "Ehsan Samiei and Maziar Izadi and Viswanathan, {Sasi P.} and Amit Sanyal and Butcher, {Eric A.}",
year = "2015",
month = "1",
day = "1",
doi = "10.1109/ICRA.2015.7139034",
language = "English (US)",
volume = "2015-June",
pages = "428--433",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",

}

TY - JOUR

T1 - Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque

AU - Samiei, Ehsan

AU - Izadi, Maziar

AU - Viswanathan, Sasi P.

AU - Sanyal, Amit

AU - Butcher, Eric A.

PY - 2015/1/1

Y1 - 2015/1/1

N2 - This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).

AB - This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).

UR - http://www.scopus.com/inward/record.url?scp=84938253347&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84938253347&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139034

DO - 10.1109/ICRA.2015.7139034

M3 - Conference article

AN - SCOPUS:84938253347

VL - 2015-June

SP - 428

EP - 433

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

IS - June

M1 - 7139034

ER -