Lyapunov-like functions for attitude control via feedback integrators

The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynamics embedded in an ambient Euclidean space has been proposed. We then combine the notion of feedback integrators with the...

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Bibliographic Details
Published in:arXiv.org 2019-03
Main Authors: Tejaswi, K C, Sukumar, Srikant, Banavar, Ravi
Format: Article
Language:English
Subjects:
Attitude control
Closed loops
Euclidean geometry
Euclidean space
Feedback
Integrators
Liapunov functions
Robustness (mathematics)
Online Access:Get full text
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Summary:The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynamics embedded in an ambient Euclidean space has been proposed. We then combine the notion of feedback integrators with the proposed Lyapunov function to obtain a feedback law for the attitude control system. The combination of the two techniques yields a domain of attraction for the closed loop dynamics, where earlier contributions were based on linearization ideas. Further, the analysis and synthesis of the feedback scheme is carried out entirely in Euclidean space. The proposed scheme is also shown to be robust to numerical errors.
ISSN:2331-8422