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research-article

Semi-Global Non-memoryless Attitude Controls on the Special Orthogonal Group

[+] Author and Article Information
Taeyoung Lee

Mechanical and Aerospace Engineering, George Washington University, Washington DC, 20052
tylee@gwu.edu

Dong Eui Chang

Electrical Engineering, KAIST, Daejeon, Korea
dechang@kaist.ac.kr

Yongsoon Eun

Information and Communication Engineering, DGIST, Daegu, Korea
yeun@dgist.ac.kr

1Corresponding author.

ASME doi:10.1115/1.4041447 History: Received April 14, 2018; Revised September 05, 2018

Abstract

This paper presents tracking strategies for the attitude dynamics of a rigid body that are global on the configuration space $\SO$ and semi-global over the phase space $\SO \times \mathbb R^3$. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological restriction has been dealt with either by constructing smooth attitude control systems that exclude a set of zero measure in the region of attraction, or by introducing discontinuities in the control input. This paper proposes non-memoryless attitude control systems that are continuous in time, where the region of attraction guaranteeing exponential convergence completely covers the special orthogonal group. This provides a new framework to address the topological restriction in attitude controls. The efficacy of the proposed methods is illustrated by numerical simulations and an experiment.

Copyright (c) 2018 by ASME
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