Further passivity results for the attitude control problem

被引：253
|
作者：
Tsiotras, P [1 ]
机构：
[1] Univ Virginia, Dept Mech Aerosp & Nucl Engn, Charlottesville, VA 22903 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1998年 / 43卷 / 11期
基金：
美国国家科学基金会;
关键词：
attitude control; Caley-Rodrigues parameters; modified Rodrigues parameters; passivity; stabilization;
D O I：
10.1109/9.728877
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters. In particular, we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties. The results of this paper extend similar results for the case of the (nonminimal) Euler parameters.
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页码：1597 / 1600
页数：4
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