Geometry and Inverse Optimality in Global Attitude Stabilization
نویسندگان
چکیده
The problem of globally stabilizing the attitude of a rigid body is considered. Topological and geometric properties of the space of rotations relevant to the stabilization problem, are discussed. Chevalley's exponential coordinates for a Lie group are used to represent points in this space. An appropriate attitude error is formulated and used for control design. A control Lyapunov function approach is used to design globally stabilizing feedback laws that have desirable optimality properties. Their performance is compared to the performance of previously developed proportional-derivative type control laws. The new control laws achieve the same or greater stabilization rate with less control e ort. Special issues in the Lyapunov stability proofs due to the topology of the space of rotations are identi ed and resolved. The simpler problem of stabilization Graduate Student; Student Member AIAA Postdoctoral Researcher Associate Professor; Associate Fellow of AIAA Copyright c by the authors, Published by AIAA with permission Assistant Professor; currently, Assistant Professor, Seoul National University, S. Korea
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