Sliding on Manifolds: Geometric Attitude Control with Quaternions
2021 IEEE International Conference on Robotics and Automation (ICRA) 30 May 2021 - 05 June Xi'an, China
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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IEEE
2024
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| Online Access: | https://hdl.handle.net/1721.1/154995 |
| _version_ | 1824458241392771072 |
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| author | Lopez, Brett T. Slotine, Jean-Jacques E. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Lopez, Brett T. Slotine, Jean-Jacques E. |
| author_sort | Lopez, Brett T. |
| collection | MIT |
| description | 2021 IEEE International Conference on Robotics and Automation (ICRA) 30 May 2021 - 05 June Xi'an, China |
| first_indexed | 2024-09-23T13:36:27Z |
| format | Article |
| id | mit-1721.1/154995 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2025-02-19T04:22:46Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1549952025-01-03T05:08:42Z Sliding on Manifolds: Geometric Attitude Control with Quaternions Lopez, Brett T. Slotine, Jean-Jacques E. Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Nonlinear Systems Laboratory 2021 IEEE International Conference on Robotics and Automation (ICRA) 30 May 2021 - 05 June Xi'an, China 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. 2024-05-17T20:00:43Z 2024-05-17T20:00:43Z 2021-05-30 2024-05-17T19:52:46Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/154995 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. en 10.1109/icra48506.2021.9561867 Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE arxiv |
| spellingShingle | Lopez, Brett T. Slotine, Jean-Jacques E. Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title | Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title_full | Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title_fullStr | Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title_full_unstemmed | Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title_short | Sliding on Manifolds: Geometric Attitude Control with Quaternions |
| title_sort | sliding on manifolds geometric attitude control with quaternions |
| url | https://hdl.handle.net/1721.1/154995 |
| work_keys_str_mv | AT lopezbrettt slidingonmanifoldsgeometricattitudecontrolwithquaternions AT slotinejeanjacquese slidingonmanifoldsgeometricattitudecontrolwithquaternions |