Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback

Sylvain Bertrand; Tarek Hamel; Hélène Piet-Lahanier; Robert Mahony

doi:10.1109/CDC.2009.5400702

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback

Sylvain Bertrand^*, Tarek Hamel, Hélène Piet-Lahanier, Robert Mahony

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Citations (Scopus)

Abstract

A solution to the attitude tracking problem of rigid bodies with kinematic representation directly on the special orthogonal group SO(3) of rotation matrices is proposed. A dynamic partial state feedback controller is designed to address the case where no angular velocity measurements are available. In addition, the gains in the control design can be tuned in advance to ensure that the torque inputs satisfy arbitrary saturation bounds. Stability conditions are provided based on Lyapunov function analysis and Barbalat's lemma. Simulation results are presented to illustrate the performance of the proposed control scheme.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2972-2977
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5400702
Publication status	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

Access to Document

10.1109/CDC.2009.5400702

Cite this

Bertrand, S., Hamel, T., Piet-Lahanier, H., & Mahony, R. (2009). Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 2972-2977). Article 5400702 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5400702

Bertrand, Sylvain ; Hamel, Tarek ; Piet-Lahanier, Hélène et al. / Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 2972-2977 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{3bc7b8c652d94ca4a294185ef370affd,

title = "Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback",

abstract = "A solution to the attitude tracking problem of rigid bodies with kinematic representation directly on the special orthogonal group SO(3) of rotation matrices is proposed. A dynamic partial state feedback controller is designed to address the case where no angular velocity measurements are available. In addition, the gains in the control design can be tuned in advance to ensure that the torque inputs satisfy arbitrary saturation bounds. Stability conditions are provided based on Lyapunov function analysis and Barbalat's lemma. Simulation results are presented to illustrate the performance of the proposed control scheme.",

author = "Sylvain Bertrand and Tarek Hamel and H{\'e}l{\`e}ne Piet-Lahanier and Robert Mahony",

year = "2009",

doi = "10.1109/CDC.2009.5400702",

language = "English",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2972--2977",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

address = "United States",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Bertrand, S, Hamel, T, Piet-Lahanier, H & Mahony, R 2009, Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400702, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2972-2977, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5400702

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. / Bertrand, Sylvain; Hamel, Tarek; Piet-Lahanier, Hélène et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 2972-2977 5400702 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback

AU - Bertrand, Sylvain

AU - Hamel, Tarek

AU - Piet-Lahanier, Hélène

AU - Mahony, Robert

PY - 2009

Y1 - 2009

N2 - A solution to the attitude tracking problem of rigid bodies with kinematic representation directly on the special orthogonal group SO(3) of rotation matrices is proposed. A dynamic partial state feedback controller is designed to address the case where no angular velocity measurements are available. In addition, the gains in the control design can be tuned in advance to ensure that the torque inputs satisfy arbitrary saturation bounds. Stability conditions are provided based on Lyapunov function analysis and Barbalat's lemma. Simulation results are presented to illustrate the performance of the proposed control scheme.

AB - A solution to the attitude tracking problem of rigid bodies with kinematic representation directly on the special orthogonal group SO(3) of rotation matrices is proposed. A dynamic partial state feedback controller is designed to address the case where no angular velocity measurements are available. In addition, the gains in the control design can be tuned in advance to ensure that the torque inputs satisfy arbitrary saturation bounds. Stability conditions are provided based on Lyapunov function analysis and Barbalat's lemma. Simulation results are presented to illustrate the performance of the proposed control scheme.

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U2 - 10.1109/CDC.2009.5400702

DO - 10.1109/CDC.2009.5400702

M3 - Conference contribution

SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2972

EP - 2977

BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

Y2 - 15 December 2009 through 18 December 2009

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Bertrand S, Hamel T, Piet-Lahanier H, Mahony R. Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 2972-2977. 5400702. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5400702

Attitude tracking of rigid bodies on the special orthogonal group with bounded partial state feedback

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