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

Greiff, Marcus LU ; Robertsson, Anders LU and Sun, Zhiyong LU (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:
author
; and
organization
publishing date
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}},
}