TY - JOUR
T1 - Stabilization of rigid body attitude motion with time-delayed feedback
AU - Samiei, Ehsan
AU - Sanyal, Amit K.
AU - Butcher, Eric A.
N1 - Publisher Copyright:
© 2017 Elsevier Masson SAS
PY - 2017/9
Y1 - 2017/9
N2 - A continuous nonlinear full-state time-delayed feedback control scheme is designed within the framework of geometric mechanics to stabilize the rigid body attitude motion, which is subject to an unknown constant time delay in feedback measurement. The attitude kinematics is globally described on the matrix Lie group SO(3) of rigid body rotations. A Morse–Lyapunov–Krasovskii functional is utilized to guarantee the asymptotic stability of the system, which yields the control gain matrices via linear matrix inequality stability conditions. In light of this result, a delayed feedback control scheme is also designed for the planar rotational motion to examine the almost global asymptotic stability of the system in the presence of an unknown time delay in feedback measurement. Simulations are performed for the proposed control schemes based on the discretized models of the controlled systems and the performance of the proposed controllers are evaluated by employing large maneuvers.
AB - A continuous nonlinear full-state time-delayed feedback control scheme is designed within the framework of geometric mechanics to stabilize the rigid body attitude motion, which is subject to an unknown constant time delay in feedback measurement. The attitude kinematics is globally described on the matrix Lie group SO(3) of rigid body rotations. A Morse–Lyapunov–Krasovskii functional is utilized to guarantee the asymptotic stability of the system, which yields the control gain matrices via linear matrix inequality stability conditions. In light of this result, a delayed feedback control scheme is also designed for the planar rotational motion to examine the almost global asymptotic stability of the system in the presence of an unknown time delay in feedback measurement. Simulations are performed for the proposed control schemes based on the discretized models of the controlled systems and the performance of the proposed controllers are evaluated by employing large maneuvers.
KW - Matrix Lie group SO(3)
KW - Morse–Lyapunov–Krasovskii functional
KW - Rigid body attitude motion
KW - Time delay
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U2 - 10.1016/j.ast.2017.06.004
DO - 10.1016/j.ast.2017.06.004
M3 - Article
AN - SCOPUS:85021239625
SN - 1270-9638
VL - 68
SP - 509
EP - 517
JO - Aerospace Science and Technology
JF - Aerospace Science and Technology
ER -