Hybrid attitude tracking of rigid bodies without angular velocity measurement

Rune Schlanbusch (1) , Esten Grotli (2) , Antonio Loria (3) , P. J. Nicklasson (1)

1 Narvik University College
2 IDI - Department of Computer and Information Science [Trondheim]
3 L2S - Laboratoire des signaux et systèmes

In this paper we address the problem of output-feedback attitude control of a rigid body in quaternion-coordinate space through a hybrid (switching) PD+ based tracking controller; we establish stability for all initial values in a compact subset which may be arbitrarily enlarged by increasing the control gains. Assumptions used in the literature such as supposing that the initial states lay in a determined compact set or that the attitude error norm is smaller than π rad for all time, are removed by including a switching law. Simulation results are presented to corroborate our theoretical findings, showing that the system stabilises as expected, even when the initial estimated velocity error is large.

Domaines: Automatique

Rune Schlanbusch, Esten Grotli, Antonio Loria, P. J. Nicklasson. Hybrid attitude tracking of rigid bodies without angular velocity measurement. Systems and Control Letters, 2012, 61 (4), pp.595-601. ⟨10.1016/j.sysconle.2012.01.008⟩. ⟨hal-00687460⟩