Hybrid control of rigid-body attitude with synergistic potential functions

Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a "synergistic" family of potential functions and their natural feedbacks to achieve global asy...

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Bibliographic Details
Main Authors: Mayhew, Christopher G., Teel, Andrew R.
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
Attitude control
Hybrid power systems
Potential energy
Switches
Torque
Online Access:Request full text
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Summary:Achieving global asymptotic stabilization of rigid body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a "synergistic" family of potential functions and their natural feedbacks to achieve global asymptotic stability of a desired attitude with robustness to small perturbations including measurement noise. We illustrate the results via simulation.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2011.5991126