Quaternion-Based Stabilization of Attitude Dynamics Subject to Pointwise Delay in the Input

Frederic Mazenc 1, 2 Maruthi Akella 3, 4
1 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : The problem of stabilizing rigid-body attitude dynamics in the presence of pointwise time-delay for the input torque is considered. A quaternion-based linear state feedback controller is shown to achieve local stability in addition to the characterization of sufficient condition that depends only on the magnitude of the initial angular rates. More specifically, no restrictions are imposed on the body initial orientation which is a significant contrast with other results from recent literature that adopt three-dimensional representations for the attitude kinematics. Using the quaternion-based linear feedback structure, the closed-loop system is shown to never admit the possibility for finite-time escapes. While the actual magnitude of the time-delay can be unknown, an upper bound on the delay is assumed to be known. The proof relies on the construction of a functional which does not belong to the family of the strict Lyapunov-Krasovskii functionals, but shares important features with the functionals of this family. The stability conditions and results are illustrated through numerical simulations.
Type de document :
Communication dans un congrès
2014 American Control Conference, Jun 2014, Portland, United States. pp.4877 - 4882, 2014, 〈10.1109/ACC.2014.6858703〉
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https://hal.inria.fr/hal-01062789
Contributeur : Frederic Mazenc <>
Soumis le : mercredi 10 septembre 2014 - 15:23:41
Dernière modification le : jeudi 11 janvier 2018 - 06:23:15

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Frederic Mazenc, Maruthi Akella. Quaternion-Based Stabilization of Attitude Dynamics Subject to Pointwise Delay in the Input. 2014 American Control Conference, Jun 2014, Portland, United States. pp.4877 - 4882, 2014, 〈10.1109/ACC.2014.6858703〉. 〈hal-01062789〉

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