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Tuning and Analysis of Geometric Tracking Controllers on SO(3)

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.1674-1680
Abstract

This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the... (More)

This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the associated cost function. The soundness of this approach is illustrated by comparison to an interior-point method. The algorithm is subsequently used to provide insights for the tuning of the considered controllers, and finally demonstrated by a closed-loop simulation example.

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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
9482745
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:85111945202
ISSN
0743-1619
ISBN
9781665441971
DOI
10.23919/ACC50511.2021.9482745
language
English
LU publication?
yes
id
e09f005e-ec3b-4d64-b403-2c95338b02a0
date added to LUP
2021-09-03 15:46:46
date last changed
2022-04-27 03:36:59
@inproceedings{e09f005e-ec3b-4d64-b403-2c95338b02a0,
  abstract     = {{<p>This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the associated cost function. The soundness of this approach is illustrated by comparison to an interior-point method. The algorithm is subsequently used to provide insights for the tuning of the considered controllers, and finally demonstrated by a closed-loop simulation example.</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        = {{1674--1680}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{Proceedings of the American Control Conference}},
  title        = {{Tuning and Analysis of Geometric Tracking Controllers on SO(3)}},
  url          = {{http://dx.doi.org/10.23919/ACC50511.2021.9482745}},
  doi          = {{10.23919/ACC50511.2021.9482745}},
  volume       = {{2021-May}},
  year         = {{2021}},
}