Robust stochastic stabilization of attitude motion

Ehsan Samiei, Morad Nazari, Eric A. Butcher, Amit K. Sanyal

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


This study proposes robust stochastic stabilization of rigid body attitude motion within the framework of geometric mechanics, which can globally represent the attitude dynamics model. The system is subject to a stochastic input torque with an unknown variance parameter and an unknown nonlinear diffusion coefficient matrix. Our development starts with introducing a general notion of the stochastic stability in probability within the framework of geometric mechanics. Then, the Morse–Lyapunov (M–L) technique is employed to design a nonlinear continuous stochastic feedback control law. Finally, the asymptotic stability of the system is guaranteed in probability and the control gain parameters are obtained via solving a linear matrix inequality feasibility problem. An estimate of the region of attraction of the system is calculated to provide a better insight for tuning the control gain parameters. Two illustrative examples are performed based on the discretized model of the closed-loop system to demonstrate the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Pages (from-to)619-635
Number of pages17
JournalInternational Journal of Dynamics and Control
Issue number2
StatePublished - Jun 1 2019


  • Attitude motion
  • Geometric mechanics
  • Morse–Lyapunov function
  • Region of attraction
  • Stochastic stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Modeling and Simulation
  • Mechanical Engineering
  • Control and Optimization
  • Electrical and Electronic Engineering


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