Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque

Ehsan Samiei, Maziar Izadi, Sasi P. Viswanathan, Amit K. Sanyal, Eric Butcher

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

8 Citations (Scopus)

Abstract

This paper investigates robust asymptotic stabilization of rigid body attitude dynamics evolving on the tangent bundle of SO(3) using geometric stochastic feedback control, where the system is subject to a stochastic input torque. To start with, the attitude dynamics is interpreted in the Ito sense. However, due to evolution of the kinematic differential equation of the system on SO(3), analyzing the stochastic system on TSO(3) is non-trivial. To address this challenging problem of robust asymptotic stabilization of attitude dynamics, the back-stepping method along with a suitable Morse-Lyapunov (M-L) function candidate with constant control gain parameters are used to obtain a nonlinear stochastic feedback control law. The control gain matrix and the M-L function control gain can be obtained by solving a feasible LMI, which can guarantee the robust asymptotic stability of the rigid body on TSO(3). Numerical simulations are performed to demonstrate and validate the effectiveness of the proposed controller in the state space of rigid body attitude motion in TSO(3).

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages428-433
Number of pages6
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

Fingerprint

Gain control
Torque
Stabilization
Lyapunov functions
Feedback control
Stochastic systems
Asymptotic stability
Kinematics
Differential equations
Controllers
Computer simulation

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Samiei, E., Izadi, M., Viswanathan, S. P., Sanyal, A. K., & Butcher, E. (2015). Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 428-433). [7139034] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139034

Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. / Samiei, Ehsan; Izadi, Maziar; Viswanathan, Sasi P.; Sanyal, Amit K.; Butcher, Eric.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 428-433 7139034.

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

Samiei, E, Izadi, M, Viswanathan, SP, Sanyal, AK & Butcher, E 2015, Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. in Proceedings - IEEE International Conference on Robotics and Automation. June edn, vol. 2015-June, 7139034, Institute of Electrical and Electronics Engineers Inc., pp. 428-433, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139034
Samiei E, Izadi M, Viswanathan SP, Sanyal AK, Butcher E. Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. In Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2015-June. Institute of Electrical and Electronics Engineers Inc. 2015. p. 428-433. 7139034 https://doi.org/10.1109/ICRA.2015.7139034
Samiei, Ehsan ; Izadi, Maziar ; Viswanathan, Sasi P. ; Sanyal, Amit K. ; Butcher, Eric. / Robust stabilization of rigid body attitude motion in the presence of a stochastic input torque. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 428-433
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