TY - GEN
T1 - Attitude Constrained Control on SO(3)
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
AU - Nakano, Satoshi
AU - Nguyen, Tam W.
AU - Garone, Emanuele
AU - Ibuki, Tatsuya
AU - Sampei, Mitsuji
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper focuses on the attitude constrained control of a rigid body in three dimensions, and proposes the Explicit Reference Governor (ERG) as a solution to handle constraints on SO (3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of the rigid body to the desired attitude reference while enforcing constraints satisfaction at all times. To do so, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Then, the proposed control scheme is augmented with a suitably designed ERG to add constraint-handling capabilities to the scheme. All the proposed solutions are defined in terms of elements on SO (3) and do not make use of any parameterizations such as e.g., quaternions and Euler angles. Finally, numerical simulations are carried out to show the effectiveness of the proposed control scheme.
AB - This paper focuses on the attitude constrained control of a rigid body in three dimensions, and proposes the Explicit Reference Governor (ERG) as a solution to handle constraints on SO (3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of the rigid body to the desired attitude reference while enforcing constraints satisfaction at all times. To do so, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Then, the proposed control scheme is augmented with a suitably designed ERG to add constraint-handling capabilities to the scheme. All the proposed solutions are defined in terms of elements on SO (3) and do not make use of any parameterizations such as e.g., quaternions and Euler angles. Finally, numerical simulations are carried out to show the effectiveness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=85062180064&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8618908
DO - 10.1109/CDC.2018.8618908
M3 - 会議への寄与
AN - SCOPUS:85062180064
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1833
EP - 1838
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 17 December 2018 through 19 December 2018
ER -