Left-Invariant PID Control Almost Globally Stabilizes Rigid-Body Attitudes with Right-Invariant Biases

Left-Invariant PID Control Almost Globally Stabilizes Rigid-Body Attitudes with Right-Invariant Biases

This paper studies the robust stabilization of rigid-body attitudes represented by a special orthogonal matrix. A geometric proportional–integral–derivative (PID) controller is proposed with all the input commands defined in the dual space <inline-formula><math xmlns="http://www.w3.org...

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Bibliographic Details
Main Authors: Zhifei Zhang, Guowei Liu, Beiping Hou, Jinrong Li
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Electronics
Subjects:
geometric PID
attitude control
left-invariant system
<i>SO</i>(3)
Lie groups
Online Access:https://www.mdpi.com/2079-9292/12/23/4735

Internet

https://www.mdpi.com/2079-9292/12/23/4735

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