Sliding on Manifolds: Geometric Attitude Control with Quaternions
Name
2011.03648v1.pdf
Description
Accepted version
Size
1.77 MB
Format
Adobe PDF
Checksum (MD5)
8f7a29d67727ead3e8fcdf6de6f1f0a9
Author(s)
Lopez, Brett T.
Slotine, Jean-Jacques E.
Date Issued
May 30, 2021
Publisher
IEEE
Citation
B. T. Lopez and J. -J. E. Slotine, "Sliding on Manifolds: Geometric Attitude Control with Quaternions," 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021, pp. 11140-11146.
Version
Author's final manuscript
Abstract
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space formed by quaternions and explicitly handles the double covering property to enable global attitude tracking when used in feedback. In-depth analysis of the sliding variable is provided and compared to others in the literature. Several feedback controllers including nonlinear PD, robust, and adaptive sliding control are then derived. Simulation results of a rigid body with uncertain dynamics demonstrate the effectiveness and superiority of the approach.
Description
2021 IEEE International Conference on Robotics and Automation (ICRA) 30 May 2021 - 05 June Xi'an, China
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Nonlinear Systems Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra48506.2021.9561867
