Geometric Integral Attitude Control on SO(3)
This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability a...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
|
| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/11/18/2821 |
| _version_ | 1797489148435628032 |
|---|---|
| author | Hossein Eslamiat Ningshan Wang Reza Hamrah Amit K. Sanyal |
| author_facet | Hossein Eslamiat Ningshan Wang Reza Hamrah Amit K. Sanyal |
| author_sort | Hossein Eslamiat |
| collection | DOAJ |
| description | This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4’s original attitude controller. |
| first_indexed | 2024-03-10T00:12:23Z |
| format | Article |
| id | doaj.art-be2e684387074abfbd1675aa885c96dd |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T00:12:23Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-be2e684387074abfbd1675aa885c96dd2023-11-23T15:57:13ZengMDPI AGElectronics2079-92922022-09-011118282110.3390/electronics11182821Geometric Integral Attitude Control on SO(3)Hossein Eslamiat0Ningshan Wang1Reza Hamrah2Amit K. Sanyal3School of Mechanical, Aerospace and Materials Engineering, Southern Illinois University, Carbondale, IL 62902, USADepartment of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY 13244, USADepartment of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY 13244, USADepartment of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY 13244, USAThis article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4’s original attitude controller.https://www.mdpi.com/2079-9292/11/18/2821Lyapunov stabilityLie groupsnonlinear controlgeometric attitude control |
| spellingShingle | Hossein Eslamiat Ningshan Wang Reza Hamrah Amit K. Sanyal Geometric Integral Attitude Control on SO(3) Electronics Lyapunov stability Lie groups nonlinear control geometric attitude control |
| title | Geometric Integral Attitude Control on SO(3) |
| title_full | Geometric Integral Attitude Control on SO(3) |
| title_fullStr | Geometric Integral Attitude Control on SO(3) |
| title_full_unstemmed | Geometric Integral Attitude Control on SO(3) |
| title_short | Geometric Integral Attitude Control on SO(3) |
| title_sort | geometric integral attitude control on so 3 |
| topic | Lyapunov stability Lie groups nonlinear control geometric attitude control |
| url | https://www.mdpi.com/2079-9292/11/18/2821 |
| work_keys_str_mv | AT hosseineslamiat geometricintegralattitudecontrolonso3 AT ningshanwang geometricintegralattitudecontrolonso3 AT rezahamrah geometricintegralattitudecontrolonso3 AT amitksanyal geometricintegralattitudecontrolonso3 |