Journal ArticleDOI
Passivity-based adaptive attitude control of a rigid spacecraft
Olav Egeland,John-Morten Godhavn +1 more
Reads0
Chats0
TLDR
An adaptive control scheme for the attitude control of a rigid spacecraft is derived using a linear parameterization of the equation of motion that allows for the use of time-varying positive-definite feedback gain matrices.Abstract:
An adaptive control scheme for the attitude control of a rigid spacecraft is derived using a linear parameterization of the equation of motion. The tracking error is described with the Euler parameter vector. Global convergence of the tracking error to zero is shown using passivity theory. This allows for the use of time-varying positive-definite feedback gain matrices, and the results can easily be extended to other passive parameter update laws. >read more
Citations
More filters
Journal ArticleDOI
Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: An observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online.
Journal ArticleDOI
Inverse optimal adaptive control for attitude tracking of spacecraft
TL;DR: The adaptive control laws proposed in this paper are optimal with respect to a family of cost functionals by the inverse optimality approach, without solving the associated Hamilton-Jacobi-Isaacs partial differential equation directly.
Journal ArticleDOI
Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
TL;DR: This work proposes a quaternion-based hybrid feedback scheme that solves the global attitude tracking problem in three scenarios: full state measurements, only measurements of attitude, and measurements of attitudes with angular velocity measurements corrupted by a constant bias.
Journal ArticleDOI
Aerial Manipulation: A Literature Review
TL;DR: This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view.
Journal ArticleDOI
Further passivity results for the attitude control problem
TL;DR: This paper establishes passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters and shows that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties.
References
More filters
Book
Nonlinear Systems Analysis
TL;DR: In this article, the authors consider non-linear differential equations with unique solutions, and prove the Kalman-Yacubovitch Lemma and the Frobenius Theorem.
Book
Feedback Systems: Input-output Properties
TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.
Journal ArticleDOI
Resolved-acceleration control of mechanical manipulators
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.
Journal ArticleDOI
Adaptive motion control of rigid robots: a tutorial
Romeo Ortega,Mark W. Spong +1 more
TL;DR: The intent is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent.
Journal ArticleDOI
Adaptive manipulator control: A case study
TL;DR: In this article, a simple adaptive controller for manipulator trajectory control problems is proposed, which is shown to have the same level of robustness to unmodeled dynamics as a PD (proportional and differential) controller yet achieves much better tracking accuracy than either PD or computed-torque schemes.