Homogeneous Finite-time Tracking Control on Lie Algebra so(3)

Yu Zhou (1) , Andrey Polyakov (1) , Gang Zheng (2)

1 VALSE - Finite-time control and estimation for distributed systems
2 DEFROST - Deformable Robots Simulation Team

An attitude tracking problem for a full-actuated rigid body in 3-D is studied using a model of rotation dynamics on the Lie group SO(3). A generalized homogeneous control is adopted to achieve tracking of a smooth attitude trajectory in a finite-time. The attitude dynamics on the Lie algebra so(3) is utilized to design the homogeneous control, since SO(3) is not a vector space. A switch control is proposed for achieving global finite-time tracking by combining a global asymptotic control with local homogeneous control. The simulations illustrate the performance of the proposed control algorithm.

Domaines: Automatique

Yu Zhou, Andrey Polyakov, Gang Zheng. Homogeneous Finite-time Tracking Control on Lie Algebra so(3). ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. ⟨hal-03837838⟩