1. Global Finite-Time Attitude Tracking via Quaternion Feedback
- Author
-
Gui, Haichao and Vukovich, George
- Subjects
Mathematics - Optimization and Control ,Computer Science - Systems and Control - Abstract
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular velocity, and attitude only. In all three scenarios hybrid control techniques are utilized to overcome the well-known topological constraint on the attitude manifold, while coupled nonsmooth feedback inputs are designed via homogeneous theory to achieve finite-time stability. Specially, a finite-time bias observer is derived in the second scenario and a quaternion filter is constructed to provide damping in the absence of velocity feedback. The proposed methods ensure bounded control torques a priori and, in particular, include several existing attitude controllers as special cases., Comment: 14 pages, 5 figures, to appear in Systems and Control Letters
- Published
- 2016
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