Robust stochastic stabilization of attitude motion

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

Research output: Contribution to journalArticle

Abstract

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)1-17
Number of pages17
JournalInternational Journal of Dynamics and Control
DOIs
StateAccepted/In press - Jul 9 2018

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Gain control
Mechanics
Stabilization
Motion
Asymptotic stability
Linear matrix inequalities
Closed loop systems
Feedback control
Dynamic models
Unknown
Stochastic Stability
Torque
Tuning
Nonlinear Diffusion
Stochastic Control
Rigid Body
Asymptotic Stability
Diffusion Coefficient
Feedback Control
Closed-loop System

Keywords

  • 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

Cite this

Robust stochastic stabilization of attitude motion. / Samiei, Ehsan; Nazari, Morad; Butcher, Eric A.; Sanyal, Amit.

In: International Journal of Dynamics and Control, 09.07.2018, p. 1-17.

Research output: Contribution to journalArticle

Samiei, Ehsan ; Nazari, Morad ; Butcher, Eric A. ; Sanyal, Amit. / Robust stochastic stabilization of attitude motion. In: International Journal of Dynamics and Control. 2018 ; pp. 1-17.
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