Attitude Control on SU(2): Stability, Robustness, and Similarities
(2021) In IEEE Control Systems Letters 6. p.73-78- Abstract
- This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is given for the controllers on SU(2), which is illustrated by simulation examples.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/c9903a2d-3c8c-485f-a76c-07f170ff8839
- author
- Greiff, Marcus LU ; Robertsson, Anders LU and Sun, Zhiyong LU
- organization
- publishing date
- 2021-01-10
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IEEE Control Systems Letters
- volume
- 6
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85099241747
- ISSN
- 2475-1456
- DOI
- 10.1109/LCSYS.2021.3049440
- project
- Semantic Mapping and Visual Navigation for Smart Robots
- language
- English
- LU publication?
- yes
- id
- c9903a2d-3c8c-485f-a76c-07f170ff8839
- date added to LUP
- 2021-01-10 22:54:37
- date last changed
- 2022-04-26 23:34:53
@article{c9903a2d-3c8c-485f-a76c-07f170ff8839, abstract = {{This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is given for the controllers on SU(2), which is illustrated by simulation examples.}}, author = {{Greiff, Marcus and Robertsson, Anders and Sun, Zhiyong}}, issn = {{2475-1456}}, language = {{eng}}, month = {{01}}, pages = {{73--78}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{IEEE Control Systems Letters}}, title = {{Attitude Control on SU(2): Stability, Robustness, and Similarities}}, url = {{http://dx.doi.org/10.1109/LCSYS.2021.3049440}}, doi = {{10.1109/LCSYS.2021.3049440}}, volume = {{6}}, year = {{2021}}, }