TY - GEN
T1 - Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions
AU - Malladi, Bharani P.
AU - Butcher, Eric A.
AU - Sanfelice, Ricardo G.
N1 - Funding Information:
Research by B. P. Malladi and E. A. Butcher is supported by the Dynamics, Control, and Systems Diagnostics Program of the National Science Foundation under Grant CMMI-1561836. Research by R. G. Sanfelice is partially supported by NSF Grants no. ECS-1150306 and CNS-1544396, and by AFOSR Grant no. FA9550-16-1-0015.
Publisher Copyright:
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme.
AB - A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme.
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U2 - 10.2514/6.2018-0606
DO - 10.2514/6.2018-0606
M3 - Conference contribution
AN - SCOPUS:85141579402
SN - 9781624105265
T3 - AIAA Guidance, Navigation, and Control Conference, 2018
BT - AIAA Guidance, Navigation, and Control
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Guidance, Navigation, and Control Conference, 2018
Y2 - 8 January 2018 through 12 January 2018
ER -