Robust adaptive sliding mode tracking control for a rigid body based on Lie subgroups of SO(3)

DOI10.3934/DCDSS.2022010MaRDI QIDQ2090459zbMATH OpenOpenAlexFDO

Authors Yaobang Ye, Zongyu Zuo, Michael Basin

Publication date 25 October 2022

Published in Discrete and Continuous Dynamical Systems. Series S (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3934/dcdss.2022010

zbMATH Keywords

\(\mathrm{SO}(3)\)adaptive controlattitude trackingLie subgroupssliding mode

Mathematics Subject Classification ID

Discrete subgroups of Lie groups (22E40) Variable structure systems (93B12) Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40)

Recommendations

• Continuous adaptive-gain finite-time control for rigid body attitude dynamics on SO(3)
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Cites work

• Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups
• An Almost Global Notion of Input-to-State Stability
• Controller Class for Rigid Body Tracking on $\mathsf {SO}(3)$
• Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers
• Hybrid attitude tracking of rigid bodies without angular velocity measurement
• Hybrid Certainty Equivalence Control of Rigid Bodies With Quaternion Measurements
• Output regulation for systems on matrix Lie-groups
• PD+ Based Output Feedback Attitude Control of Rigid Bodies
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Rigid-Body Attitude Control

Cited in

(19)

• A skew-symmetric property of rigid-body systems
• Almost-global tracking for a rigid body with internal rotors
• Orientation control on SO(3) with piecewise sinusoids
• Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation
• Robust attitude tracking on the special orthogonal group SO(3) using PD-type state feedback and linear matrix inequalities
• Constrained attitude maneuvers on \(SO(3)\): rotation space sampling, planning and low-level control
• Second-order sliding-mode on SO(3) and fault-tolerant spacecraft attitude control
• Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers
• Controller Class for Rigid Body Tracking on $\mathsf {SO}(3)$
• Continuous adaptive-gain finite-time control for rigid body attitude dynamics on SO(3)
• Some discussions about the error functions on SO(3) and SE(3) for the guidance of a UAV using the screw algebra theory
• Vector-based adaptive attitude observer and controller on special orthogonal group
• H _∞ inverse optimal attitude tracking on the special orthogonal group SO (3)
• Explicit reference governor on \(SO(3)\) for torque and pointing constraint management
• Geometric Adaptive Robust Sliding-mode Control on SO(3)
• Synergistic potential functions from single modified trace function on SO(3)
• Generalized homogeneous rigid-body attitude control
• Tracking control for a class of fully actuated systems on manifolds with impulsive effects
• Geometric tracking on \(\mathcal{S}^3\) based on sliding mode control

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