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arXiv · 2210.01530

Generalized Homogeneous Rigid-BodyAttitude Control

Yu Zhou·Andrey Polyakov·Gang Zheng
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Abstract

The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a finite or a (nearly) fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The local input-to-state stability is proven. Simulations illustrating the performance of the proposed algorithm are presented.

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Yu Zhou, Andrey Polyakov, Gang Zheng. 2022-10-04. Generalized Homogeneous Rigid-BodyAttitude Control. https://arxiv.org/abs/2210.01530

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