Almost-global tracking for a rigid body with internal rotors

DOI10.1016/J.EJCON.2018.02.006MaRDI QIDQ1663041zbMATHOpenAlexFDO

Authors Aradhana Nayak, Ravi N. Banavar, D. H. S. Maithripala

Publication date 21 August 2018

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1703.07839

zbMATH Keywords

nonlinear PID controlalmost-global trackingspacecraft with internal rotors

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Abstract: Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple mechanical system (SMS) on the $3-$dimensional group of special orthogonal matrices. However, the problem of designing feedback control laws for tracking using internal actuation mechanisms, like rotors or control moment gyros, has received lesser attention from a geometric point of view. An internally actuated rigid body is not a simple mechanical system, and the phase-space here evolves on the level set of a momentum map. In this note, we propose a novel proportional integral derivative (PID) control law for a rigid body with $3$ internal rotors, that achieves tracking of feasible trajectories from almost all initial conditions.

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Cited in

(7)

• On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
• Attitude optimization by extremum seeking for rigid bodies actuated by internal rotors only
• Geometric optimal trajectory tracking of nonholonomic mechanical systems
• Particular extremals in the optimal control problems of the reorientation of an asymmetric rotating body
• Observer-based hybrid control for global attitude tracking onSO(3) with input quantisation
• Rigid body with rotors and reduction by stages
• Boundary Tracking and Obstacle Avoidance Using Gyroscopic Control

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