H ∞ inverse optimal attitude tracking on the special orthogonal group SO (3)

DOI10.1080/00207179.2022.2129790zbMATH Open1530.93091arXiv2107.07960OpenAlexW4297505413MaRDI QIDQ6089808FDOQ6089808

Authors: Farooq Aslam, M. Farooq Haydar 

Publication date: 15 December 2023

Published in: International Journal of Control (Search for Journal in Brave)

Abstract: The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $mathcal{L}_2$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear $H_{infty}$ control problem by minimizing a meaningful cost function. The approach guarantees that the energy gain from an exogenous disturbance to a specified error signal respects a given upper bound. For numerical simulations, a simple problem setup from literature is considered and results demonstrate competitive performance.

Full work available at URL: https://arxiv.org/abs/2107.07960

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zbMATH Keywords

attitude controlspecial orthogonal group \(SO(3)\)\(H_\infty\) inverse optimal control

Mathematics Subject Classification ID

Inverse problems in optimal control (49N45) (H^infty)-control (93B36) Nonlinear systems in control theory (93C10)

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