@inproceedings{a3e0044ddc9b49d5be916cba247e1c81,
title = "Quaternion-based H∞ kinematic attitude control subjected to input time-varying delays",
abstract = "In this paper, a quaternion-based H∞ controller is proposed for the stabilization of rigid-body attitude kinematics subject to unknown time-varying delays. This work is motivated both by the applicability to practical scenarios where large measurement and communication delays are often time-varying and by the absence of results in the literature. The difficulties stem from the non-Euclidean manifold of unit quaternions and the nonlinearities inherent to the quaternion kinematics. They yield additional constraints to the time-delay analysis which in turn restricts the application of existing techniques-suitable for Euclidean space ℝn-to investigate the time-varying delay. This paper exploits particular properties of unit quaternions in order to adapt such techniques whereby the stability criterion for time-varying delays is derived. In addition, the design criterion also satisfies performance properties in the H∞ sense. The H∞ control criterion is presented in the form of linear matrix inequalities (LMIs), providing efficient tools to obtain the controllers. The effectiveness of the proposed criterion is illustrated through numerical simulations.",
keywords = "Attitude control, Delay effects, Delays, Kinematics, Quaternions, Stability criteria",
author = "Vilela, {J. V.C.} and Figueredo, {L. F.C.} and Ishihara, {J. Y.} and Borges, {G. A.}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403333",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7066--7071",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
}