抄録
This paper focuses on the constrained attitude control of a rigid body. We propose an Explicit Reference Governor (ERG) specifically designed to handle constraints on SO(3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of a rigid body to the desired attitude reference while enforcing constraints at all times. To this end, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Next, the proposed control scheme is augmented with a novel ERG scheme able to add constraint-handling capabilities to the overall architecture. All the proposed solutions are defined in terms of SO(3) and do not make use of any parameterization such as quaternions or Euler angles. Numerical simulations are carried out to show the effectiveness of the proposed control scheme.
本文言語 | 英語 |
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論文番号 | 111103 |
ジャーナル | Automatica |
巻 | 155 |
DOI | |
出版ステータス | 出版済み - 2023/09 |
ASJC Scopus 主題領域
- 制御およびシステム工学
- 電子工学および電気工学