On robust, global stabilization of the attitude of an underactuated rigid body using hybrid feedback

Publication Type:

E. Conference Papers

Source:

Proc. 27th American Control Conference, Issue NULL, p.2909–2914 (2008)

Call Number:

NULL

Accession Number:

NULL

Other Number:

NULL

URL:

https://hybrid.soe.ucsc.edu/files/preprints/28.pdf

Keywords:

attitude control

Abstract:

A hybrid feedback is developed for robust, global stabilization of the attitude of an underactuated rigid body. For the case where two angular velocities are considered as controls, this objective is achieved. For the case where the two controls are torques, the objective is achieved in a ``practical" sense, i.e., robust, global asymptotic stability of some arbitrarily small neighborhood of the desired attitude is achieved. To assist with the exposition, a robustly, globally stabilizing hybrid controller is also developed for the case where three angular velocities are considered as controls. This solution provides an alternative to one that has recently appeared in the literature.

NULL

Preprint attachment: 
AttachmentSize
PDF icon 28.pdf209.37 KB