Attitude Control on SU(2) : Stability, Robustness, and Similarities
(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:
https://lup.lub.lu.se/record/2566b3a9-9308-4d9f-b7ea-18b6ba066043
- author
- Greiff, Marcus LU ; Sun, Zhiyong and Robertsson, Anders LU
- organization
- publishing date
- 2021-05-25
- 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}}, }