Output feedback, attitude dynamics, robustness

Frédéric Mazenc 1, 2 S. Yang 3 Maruthi Akella 3, 4
2 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 : This paper considers stabilization of fully actuated rigid-body attitude dynamics in the absence of angular velocity measurements and presents new robustness results to bounded unknown external disturbance torques. In particular, it is assumed that only body orientation is measured in the form of a unit-quaternion signal. It is well known that the passivity properties of the dynamics allows design of velocity-free controllers using a first-order stable filter driven by measured states. When external disturbance torques are taken into account, however, the robustness properties of these passivity-based output feedback controllers cannot be readily analyzed because the Lyapunov-like function from which the controller is derived has a time-derivative that is only negative semidefinite, and therefore non-strict. This obstacle is circumvented through a new partial-strictification approach which ultimately allows the characterization of robustness properties for this closed-loop system.
Type de document :
Communication dans un congrès
14th annual European Control Conference - ECC 2015, Jul 2015, Linz, Austria. pp.1243-1248, 〈10.1109/ecc.2015.7330711 〉
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https://hal.inria.fr/hal-01202177
Contributeur : Frederic Mazenc <>
Soumis le : samedi 19 septembre 2015 - 10:54:29
Dernière modification le : jeudi 26 avril 2018 - 16:18:54

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Frédéric Mazenc, S. Yang, Maruthi Akella. Output feedback, attitude dynamics, robustness. 14th annual European Control Conference - ECC 2015, Jul 2015, Linz, Austria. pp.1243-1248, 〈10.1109/ecc.2015.7330711 〉. 〈hal-01202177〉

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