|
| | | | |
| | | |
| Stat |
Members: 3645
Articles: 2'500'096
Articles rated: 2609
18 April 2024 |
|
| | | | |
|
Article forum
| |
|
|
Sliding on Manifolds: Geometric Attitude Control with Quaternions | | Brett T. Lopez
; Jean-Jacques E. Slotine
; | | Date: |
7 Nov 2020 | | Abstract: | This work proposes a quaternion-based sliding variable that describes
exponentially convergent error dynamics for any forward complete desired
attitude trajectory. The proposed sliding variable directly operates on the
non-Euclidean space formed by quaternions and explicitly handles the double
covering property to enable global attitude tracking when used in feedback.
In-depth analysis of the sliding variable is provided and compared to others in
the literature. Several feedback controllers including nonlinear PD, robust,
and adaptive sliding control are then derived. Simulation results of a rigid
body with uncertain dynamics demonstrate the effectiveness and superiority of
the approach. | | Source: | arXiv, 2011.03648 | | Services: | Forum | Review | PDF | Favorites | |
|
|
No message found in this article forum.
You have a question or message about this article?
Ask the community and write a message in the forum.
If you want to rate this article, please use the review section..
To add a message in the forum, you need to login or register first. (free): registration page
|
| |
|
|
|
|
News, job offers and information for researchers and scientists:
| |
REGISTER