Quaternion-Based Hybrid Control for Robust Global Attitude Tracking

DOI10.1109/TAC.2011.2108490zbMATH Open1368.93552MaRDI QIDQ5347887FDOQ5347887

Christopher G. Mayhew, Andrew Teel, Ricardo G. Sanfelice

Publication date: 25 August 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Stabilization of systems by feedback (93D15)

Cited In (61)

Adaptive fault-tolerant attitude tracking control of rigid spacecraft on Lie group with fixed-time convergence
Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups
The prescribed time sliding mode control for attitude tracking of spacecraft
Geometric tracking on \(\mathcal{S}^3\) based on sliding mode control
A four-DOF Lagrangian approach to attitude tracking
Quaternion-based attitude stabilization using synergistic hybrid feedback with minimal potential functions
Synergistic potential functions from single modified trace function on SO(3)
Constrained control for systems on matrix Lie groups with uncertainties
Global trajectory tracking for quadrotors: an MRP-based hybrid strategy with input saturation
Quaternion-based adaptive control for trajectory tracking of quadrotor unmanned aerial vehicles
Attitude tracking of rigid bodies using exponential coordinates and a disturbance observer
Generalized homogeneous rigid-body attitude control
Finite-time sliding mode attitude control for rigid spacecraft without angular velocity measurement
On the topological structure of attraction basins for differential inclusions
Neural-network-based sliding-mode control for multiple rigid-body attitude tracking with inertial information completely unknown
Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback
Adaptive trajectory tracking controller for quadrotor systems subject to parametric uncertainties
Active finite-time disturbance rejection control for attitude tracking of quad-rotor under input saturation
A hierarchical control scheme for multiple aerial vehicle transportation systems with uncertainties and state/input constraints
Robust formation control in \(\mathbb{SE}(3)\) for tree-graph structures with prescribed transient and steady state performance
Robust global trajectory tracking for a class of underactuated vehicles
A geodesic feedback law to decouple the full and reduced attitude
Simplex sliding mode control for autonomous six‐DOF vehicles with mono‐directional actuators: Robustness, stability, and implementation issues
Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices
Anti-unwinding terminal sliding mode attitude tracking control for rigid spacecraft
Distributed attitude tracking control of multiple rigid bodies with global exponential stability on SO(3)
Pointwise Asymptotic Stability in a Hybrid System and Well-Posed Behavior Beyond Zeno
Nonlinear hierarchical control for quad-rotors with rotation matrix
Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates
Hybrid kinematic control for rigid body pose stabilization using dual quaternions
Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers
Exponential attitude tracking and disturbance rejection of rigid body systems
Pose and position trajectory tracking for aerial transportation of a rod-like object
Robust global distributed attitude control for multiple rigid bodies using a hybrid controller
A framework to design interaction control of aerial slung load systems: transfer from existing flight control of under-actuated aerial vehicles
Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique
Robust supervisory control for uniting two output-feedback hybrid controllers with different objectives
On event‐triggered nonsmooth attitude tracking controller for a rigid spacecraft
Dual-quaternion-based adaptive motion tracking of spacecraft with reduced control effort
Adaptive trajectory tracking control approach for a model-scaled helicopter
Coordinate independent adaptive attitude tracking control design for spacecraft robust to time-varying system uncertainties
A singular adaptive attitude control with active disturbance rejection
Adaptive quantized control of uncertain nonlinear rigid body systems
Global finite-time distributed attitude synchronization and tracking control of multiple rigid bodies without velocity measurements
Exact solutions to a class of feedback systems on \(\mathsf{SO}(n)\)
Impulsive control for attitude stabilization in the presence of unknown bounded external disturbances
Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation
Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies
Inertia-free fault-tolerant spacecraft attitude tracking using control allocation
Robust global exponential stabilization on the \(n\)-dimensional sphere with applications to trajectory tracking for quadrotors
Étale backstepping for control Lyapunov function design on manifold
Global finite-time attitude tracking via quaternion feedback
Composite adaptive finite-time control for quadrotors via prescribed performance
Event-triggered control for a class of nonlinear systems with random reset controllers
Global finite-time attitude consensus of leader-following spacecraft systems based on distributed observers
An intrinsic PID controller for mechanical systems on Lie groups
Hybrid cancellation of ripple disturbances arising in AC/DC converters
Coordinated trajectory tracking of multiple vertical take-off and landing uavs
Robust global bimodal rest-to-rest attitude control of rigid body using unit quaternion
Robust adaptive sliding mode tracking control for a rigid body based on Lie subgroups of \(\mathrm{SO}(3)\)

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