TY - GEN
T1 - Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque
AU - Samiei, Ehsan
AU - Izadi, Maziar
AU - Viswanathan, Sasi P.
AU - Sanyal, Amit K.
AU - Butcher, Eric A.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).
AB - This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).
UR - http://www.scopus.com/inward/record.url?scp=84938253347&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2015.7139034
DO - 10.1109/ICRA.2015.7139034
M3 - Conference contribution
AN - SCOPUS:84938253347
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 428
EP - 433
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -