Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method

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Abstract

In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.

Original languageEnglish
Title of host publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1591-1596
Number of pages6
ISBN (Electronic)9781538676981
DOIs
Publication statusPublished - 26 Oct 2018
Event2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
Duration: 21 Aug 201824 Aug 2018

Publication series

Name2018 IEEE Conference on Control Technology and Applications, CCTA 2018

Conference

Conference2nd IEEE Conference on Control Technology and Applications, CCTA 2018
CountryDenmark
CityCopenhagen
Period21/08/1824/08/18

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Nomura, S., Satoh, Y., Nakamura, H., & Kato, K. (2018). Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method. In 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 (pp. 1591-1596). [8511603] (2018 IEEE Conference on Control Technology and Applications, CCTA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2018.8511603