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Rigid body attitude tracking without angular velocity feedback

✍ Scribed by Maruthi R. Akella

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
125 KB
Volume
42
Category
Article
ISSN
0167-6911

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✦ Synopsis

In this paper, we revisit the classical problem of attitude tracking for a rigid body. The interesting di erence in the formulation is the assumption that only attitude measurements are available. We proceed to construct globally stabilizing control laws in terms of a minimal set of three-dimensional kinematic parameters that enable the rigid body to track any speciΓΏed trajectory without requiring angular velocity measurements. The results presented here complement and extend some recent developments available for the nonminimal case of Euler parameters (quaternions).

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Robust output feedback stabilization of
Robust output feedback stabilization of the angular velocity of a rigid body
✍ F. Mazenc; A. Astolfi πŸ“‚ Article πŸ“… 2000 πŸ› Elsevier Science 🌐 English βš– 109 KB

The problem of semi-global stabilization of the angular velocity of an underactuated rigid body in the presence of model errors is addressed and solved using a smooth, time-varying, dynamic, output feedback control law. The proposed scheme improves some of the existing results and provides guideline