A passivity approach to attitude stabilization using nonredundant kinematic parameterizations
- 19 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 515-520
- https://doi.org/10.1109/cdc.1995.478944
Abstract
In a recent paper we showed that there exist linearcontrollers which globally asymptotically stabilize theattitude motion of a rigid body using a nonredundant,three-dimensional set of kinematic parameters. In thispaper we show, using the inherent passivity propertiesof the system, that these results can be extended tostabilizing control laws without any angular velocitymeasurements. A numerical example demonstratesthe theoretical results.1. IntroductionIn a recent paper [14] we have ...Keywords
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