Attitude control without angular velocity measurement: a passivity approach
- 1 March 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 41 (3) , 468-472
- https://doi.org/10.1109/9.486654
Abstract
It is well known that the linear feedback of the quaternion of the attitude error and the angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quaternion, thus removing the need for direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a model-based observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.Keywords
This publication has 14 references indexed in Scilit:
- On the control of magnetically levitated robot wristsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Quaternion-based coordinated control of a subsea mobile manipulator with only position measurementsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion and force control of multiple robotic manipulatorsAutomatica, 1992
- A globally convergent angular velocity observer for rigid body motionIEEE Transactions on Automatic Control, 1991
- The attitude control problemIEEE Transactions on Automatic Control, 1991
- Hamiltonian adaptive control of spacecraftIEEE Transactions on Automatic Control, 1990
- Quarternion feedback regulator for spacecraft eigenaxis rotationsJournal of Guidance, Control, and Dynamics, 1989
- Quaternion feedback for spacecraft large angle maneuversJournal of Guidance, Control, and Dynamics, 1985
- Resolved-acceleration control of mechanical manipulatorsIEEE Transactions on Automatic Control, 1980
- Singularity-free extraction of a quaternion from a direction-cosine matrixJournal of Spacecraft and Rockets, 1976