کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5010602 | 1462294 | 2017 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A geodesic feedback law to decouple the full and reduced attitude
ترجمه فارسی عنوان
قانون بازخورد جغرافیایی برای تفکیک نگرش کامل و کاهش یافته
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کلمات کلیدی
کنترل نگرش، کاهش نگرش، زمین شناسی راه حل های دقیق گروه متعارف،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
چکیده انگلیسی
This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the nâ1-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action, essentially two maneuvers in sequel, is fused into one smooth motion. Our algorithm is useful in applications where stabilization of the reduced attitude takes precedence over stabilization of the full attitude. A two parameter feedback gain affords further trade-offs between the full and reduced attitude convergence speed. The closed loop kinematics on SO(3) are solved for the states as functions of time and the initial conditions, providing precise knowledge of the transient dynamics. The exact solutions also help us to characterize the asymptotic behavior of the system such as establishing the region of attraction by straightforward evaluation of limits. The geometric flavor of these ideas is illustrated by a numerical example.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Systems & Control Letters - Volume 102, April 2017, Pages 32-41
Journal: Systems & Control Letters - Volume 102, April 2017, Pages 32-41
نویسندگان
Johan Markdahl, Jens Hoppe, Lin Wang, Xiaoming Hu,