Globally stable control laws for the attitude maneuver problem: tracking control and adaptive control
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
An approach using a globally nonsingular representation is proposed for the attitude control problem of a rigid body. The attitude dynamics are described by the nonlinear Euler equation together with the nonlinear kinematic equations which relate a representation of attitude to the angular velocity of the body. When this approach is combined with an energy-motivated Lyapunov function, a large class of globally stable attitude control laws can be derived. This class includes model-independent tracking control, model-dependent tracking control, and adaptive control, allowing tradeoffs between controller complexity, attainable performance, and available model information Author(s) Wen, J.T. ECSE Dept., Rensselaer Polytech. Inst., Troy, NY, USA Kreutz, KennethKeywords
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