Affiliation:
1. School of Automation and Electrical Engineering, and Key Institute of Robotics Industry of Zhejiang Province, Zhejiang University of Science and Technology, Hangzhou 310023, China
Abstract
This paper studies the robust stabilization of rigid-body attitudes represented by a special orthogonal matrix. A geometric proportional–integral–derivative (PID) controller is proposed with all the input commands defined in the dual space so*(3) of a Lie algebra for left-invariant systems evolving on a Lie group SO(3). Almost global asymptotic stability (AGAS) of the close system is proved by constructing a gradient-descent Lyapunov function after explicitly performing two stages of variable change. The attitudes are stabilized to the stable equilibrium despite the influence of inertially fixed biases. The convergent behaviors and the robustness to biases are verified by numerical simulations.
Funder
Scientific Research Foundation of Zhejiang University of Science and Technology
Public Welfare Technology Application Research Project of Zhejiang Province
“Pioneer” and “Leading Goose” R&D Program of Zhejiang
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering