TY - JOUR
T1 - Rigid-body pose hybrid control using dual quaternions
T2 - Global asymptotic stabilization and robustness
AU - Malladi, Bharani P.
AU - Butcher, Eric A.
AU - Sanfelice, Ricardo G.
N1 - Funding Information:
This material is based upon the work supported by the National Science Foundation under grant number CMMI-1561836. Research by R. G. Sanfelice has been partially supported by the National Science Foundation under grant numbers ECS-1710621 and CNS-1544396; the U.S. Air Force Office of Scientific Research under grant numbers FA9550-16-1-0015, FA9550-19-1-0053, and FA9550-19-1-0169; and by CITRIS and the Banatao Institute at the University of California.
PY - 2020
Y1 - 2020
N2 - A hybrid feedback control scheme is proposed for stabilization of rigid-body dynamics (position, orientation, and velocities) using unit dual quaternions, in which the dual quaternions and velocities are used for feedback. Specifically, both set-point stabilization and tracking control are addressed in this work. It is well known that rigid-body attitude control is subject to topological constraints, which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of an invariance principle for hybrid systems. Simulation results for a rigid-body model are presented to illustrate the performance of the proposed hybrid dual-quaternion feedback control schemes.
AB - A hybrid feedback control scheme is proposed for stabilization of rigid-body dynamics (position, orientation, and velocities) using unit dual quaternions, in which the dual quaternions and velocities are used for feedback. Specifically, both set-point stabilization and tracking control are addressed in this work. It is well known that rigid-body attitude control is subject to topological constraints, which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of an invariance principle for hybrid systems. Simulation results for a rigid-body model are presented to illustrate the performance of the proposed hybrid dual-quaternion feedback control schemes.
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U2 - 10.2514/1.G004621
DO - 10.2514/1.G004621
M3 - Article
AN - SCOPUS:85090287833
VL - 43
SP - 1631
EP - 1641
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
SN - 0731-5090
IS - 9
ER -