Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions

Bharani P. Malladi, Eric A. Butcher, Ricardo G. Sanfelice

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. 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 invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Edition210039
ISBN (Print)9781624105265
DOIs
StatePublished - Jan 1 2018
EventAIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States
Duration: Jan 8 2018Jan 12 2018

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2018
Number210039

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2018
Country/TerritoryUnited States
CityKissimmee
Period1/8/181/12/18

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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