Quaternion-based H∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements

J. Cavalcanti; L. F.C. Figueredo; J. Y. Ishihara

doi:10.1109/CDC.2016.7798466

Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements

J. Cavalcanti, L. F.C. Figueredo, J. Y. Ishihara

University of Brasília (UnB)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

The problem of attitude and angular velocity tracking in the presence of exogenous disturbances and where feedback measurements are subjected to unknown time-varying delays is addressed. Sufficient conditions which guarantee stability and disturbance attenuation performance in the H_∞ sense are provided. Results are presented in the form of LMIs, which allow the conditions to be simply and efficiently computed. Using a simple quaternion-based linear state feedback controller and a feedforward term to compensate the nonlinearities of the system dynamics, simulation results illustrate that the control law is able to effectively track desired trajectories and reject disturbances even in the presence of large time-varying delays.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1423-1428
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798466
State	Published - 27 Dec 2016
Externally published	Yes
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

Access to Document

10.1109/CDC.2016.7798466

Cite this

Cavalcanti, J., Figueredo, L. F. C., & Ishihara, J. Y. (2016). Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1423-1428). Article 7798466 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798466

Cavalcanti, J. ; Figueredo, L. F.C. ; Ishihara, J. Y. / Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1423-1428 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

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title = "Quaternion-based H∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements",

abstract = "The problem of attitude and angular velocity tracking in the presence of exogenous disturbances and where feedback measurements are subjected to unknown time-varying delays is addressed. Sufficient conditions which guarantee stability and disturbance attenuation performance in the H∞ sense are provided. Results are presented in the form of LMIs, which allow the conditions to be simply and efficiently computed. Using a simple quaternion-based linear state feedback controller and a feedforward term to compensate the nonlinearities of the system dynamics, simulation results illustrate that the control law is able to effectively track desired trajectories and reject disturbances even in the presence of large time-varying delays.",

author = "J. Cavalcanti and Figueredo, {L. F.C.} and Ishihara, {J. Y.}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 55th IEEE Conference on Decision and Control, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

year = "2016",

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doi = "10.1109/CDC.2016.7798466",

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Cavalcanti, J, Figueredo, LFC & Ishihara, JY 2016, Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798466, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1423-1428, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798466

Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. / Cavalcanti, J.; Figueredo, L. F.C.; Ishihara, J. Y.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1423-1428 7798466 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The problem of attitude and angular velocity tracking in the presence of exogenous disturbances and where feedback measurements are subjected to unknown time-varying delays is addressed. Sufficient conditions which guarantee stability and disturbance attenuation performance in the H∞ sense are provided. Results are presented in the form of LMIs, which allow the conditions to be simply and efficiently computed. Using a simple quaternion-based linear state feedback controller and a feedforward term to compensate the nonlinearities of the system dynamics, simulation results illustrate that the control law is able to effectively track desired trajectories and reject disturbances even in the presence of large time-varying delays.

AB - The problem of attitude and angular velocity tracking in the presence of exogenous disturbances and where feedback measurements are subjected to unknown time-varying delays is addressed. Sufficient conditions which guarantee stability and disturbance attenuation performance in the H∞ sense are provided. Results are presented in the form of LMIs, which allow the conditions to be simply and efficiently computed. Using a simple quaternion-based linear state feedback controller and a feedforward term to compensate the nonlinearities of the system dynamics, simulation results illustrate that the control law is able to effectively track desired trajectories and reject disturbances even in the presence of large time-varying delays.

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Cavalcanti J, Figueredo LFC, Ishihara JY. Quaternion-based H_∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1423-1428. 7798466. (2016 IEEE 55th Conference on Decision and Control, CDC 2016). doi: 10.1109/CDC.2016.7798466