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Attitude Control on SU(2) : Stability, Robustness, and Similarities

Greiff, Marcus LU ; Sun, Zhiyong and Robertsson, Anders LU (2021) 2021 American Control Conference, ACC 2021 In Proceedings of the American Control Conference 2021-May. p.1693-1699
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:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2021 American Control Conference, ACC 2021
series title
Proceedings of the American Control Conference
volume
2021-May
article number
9482945
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2021 American Control Conference, ACC 2021
conference location
Virtual, New Orleans, United States
conference dates
2021-05-25 - 2021-05-28
external identifiers
  • scopus:85111929422
ISSN
0743-1619
ISBN
9781665441971
DOI
10.23919/ACC50511.2021.9482945
language
English
LU publication?
yes
id
2566b3a9-9308-4d9f-b7ea-18b6ba066043
date added to LUP
2021-09-03 15:33:46
date last changed
2022-05-05 03:25:27
@inproceedings{2566b3a9-9308-4d9f-b7ea-18b6ba066043,
  abstract     = {{<p>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.</p>}},
  author       = {{Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders}},
  booktitle    = {{2021 American Control Conference, ACC 2021}},
  isbn         = {{9781665441971}},
  issn         = {{0743-1619}},
  language     = {{eng}},
  month        = {{05}},
  pages        = {{1693--1699}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{Proceedings of the American Control Conference}},
  title        = {{Attitude Control on SU(2) : Stability, Robustness, and Similarities}},
  url          = {{http://dx.doi.org/10.23919/ACC50511.2021.9482945}},
  doi          = {{10.23919/ACC50511.2021.9482945}},
  volume       = {{2021-May}},
  year         = {{2021}},
}