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

DOI10.1080/00207179.2022.2129790MaRDI QIDQ6089808zbMATH OpenOpenAlexFDO

Authors Farooq Aslam, M. Farooq Haydar

Publication date 15 December 2023

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

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

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)

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.

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