scholarly journals Attitude Control of an Axi-Symmetric Rigid Body Using Two Controls without Angular Velocity Measurements Paper

2013 ◽  
Vol 03 (05) ◽  
pp. 1-5
Author(s):  
Tawfik El-Sayed Tawfik
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Attitude Control ◽  
Velocity Measurements ◽  
Symmetric Rigid Body

scholarly journals Velocity-Free Attitude Control of Quadrotors: A Nonlinear Negative Imaginary Approach

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2387
Author(s):  
Ahmed G. Ghallab ◽  
Ian R. Petersen
Keyword(s):  
Angular Velocity ◽  
Attitude Control ◽  
Velocity Measurements ◽  
External Disturbances ◽  
New Approach ◽  
Control Approach ◽  
Modeling Uncertainties ◽  
The Face ◽  
Robust Asymptotic Stability ◽  
Stability Results

In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent stability results obtained for nonlinear negative imaginary systems. In specific, through an inner-outer loop method, we establish the nonlinear negative imaginary property of the quadrotor rotational subsystem. Then, a strictly negative imaginary controller is synthesized using the nonlinear negative imaginary results. This guarantees the robust asymptotic stability of the attitude of the quadrotor in the face of modeling uncertainties and external disturbances. First simulation results underline the effectiveness of the proposed attitude control approach are presented.

scholarly journals Asymptotic Stability of Quaternion-based Attitude Control System with Saturation Function

2017 ◽  
Vol 7 (4) ◽  
pp. 1994 ◽  
Author(s):  
Harry Septanto ◽  
Djoko Suprijanto
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Rigid Body ◽  
Attitude Control ◽  
Asymptotically Stable ◽  
Attitude Control System ◽  
Saturation Function ◽  
Continuous Scheme ◽  
Rotational Motions ◽  
The Stability

In the design of attitude control, rotational motion of the spacecraft is usually considered as a rotation of rigid body. Rotation matrix parameterization using quaternion can represent globally attitude of a rigid body rotational motions. However, the representation is not unique hence implies difficulties on the stability guarantee. This paper presents asymptotically stable analysis of a continuous scheme of quaternion-based control system that has saturation function. Simulations run show that the designed system applicable for a zero initial angular velocity case and a non-zero initial angular velocity case due to utilization of deadzone function as an element of the defined constraint in the stability analysis.

scholarly journals Rigid-body attitude control guaranteeing finite-time convergence

2020 ◽  
pp. 002029402095247
Author(s):  
Shenhao Li ◽  
Taotao Zhang
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Attitude Control ◽  
Simple Structure ◽  
Fault Tolerant ◽  
Rotation Velocity ◽  
Sliding Surface ◽  
Body Attitude ◽  
Velocity Constraint

This study proposes an effective solution to the problem of attitude control for a rigid body satisfying angular velocity constraint as well as providing fault-tolerant capability. More specifically, a finite-time sliding surface containing attitude quaternion and angular velocity is first defined. Then, a novel tan-type prescribed performance control (PPC) with simple structure is presented to confine the sliding surface within a predefined performance boundary. Not only the attitude quaternion and angular velocity are indirectly constrained, but also it is thoroughly proved that the rotation velocity constraint is met even when severe actuators faults occur. The closed-loop attitude system is confirmed to be finite-time stable in the sense of Lyapunov stability. Numerical simulations clearly illustrate the effectiveness and usefulness of the suggested finite-time PPC despite actuator faults and environmental disturbances.

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