Stabilization and optimality results for the attitude control problem

Panagiotis Tsiotras
1996 Journal of Guidance Control and Dynamics  
In this paper we present some recent results on the description and control of the attitude motion of rotating rigid bodies. We derive a new class of globally asymptotically stabilizing feedback c o n trol laws for the complete (i.e., dynamics and kinematics) attitude motion. We s h o w that the use of a Lyapunov function which i n volves the sum of a quadratic term in the angular velocities and a logarithmic term in the kinematic parameters leads to the design of linear controllers. We also
more » ... rollers. We also show that the feedback control laws for the kinematics minimize a quadratic cost in the state and control variables for all initial conditions. For the complete system we construct a family of exponentially stabilizing control laws and we i n vestigate their optimality c haracteristics. The proposed control laws are given in terms of the classical Cayley-Rodrigues parameters and the Modi ed Rodrigues parameters.
doi:10.2514/3.21698 fatcat:n7o5lut2dbeffburnogkhr4s2q