Quaternion-based ℋ∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements | IEEE Conference Publication | IEEE Xplore

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 dela...Show More

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.
Date of Conference: 12-14 December 2016
Date Added to IEEE Xplore: 29 December 2016
ISBN Information:
Conference Location: Las Vegas, NV, USA

References

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