Summary
This paper considers a class of nonlinear output regulation problems for the rotational rigid body equations. The equations of motion for the rigid body are written in the natural SO(3) representation. The presented design consists of an observer and a certainty equivalence implementation of an independently designed state feedback law. The proposed solution is global and achieves almost global convergence in the closed loop
Zusammenfassung
Dieser Beitrag beschäftigt sich mit einer Klasse von nichtlinearen Ausgangsregelungsproblemen für die Drehbewegung von Starrkörpern. Die Bewegungsgleichungen der Starrkörper werden in der SO(3) Darstellung betrachtet. Der Regler besteht aus einem Beobachter und einer davon unabhängig entworfenen Zustandsrückführung, in welcher die Beobachterzustände verwendet werden. Der Entwurf resultiert in einem geschlossenen Kreis mit garantierter Konvergenz für fast alle Anfangsbedingungen
Über die Autoren
Gerd Simon Schmidt is a research and teaching assistant at the Institute for Systems Theory and Automatic Control and a Ph.D. student within the Graduate School Simulation Technology (GS SimTech) at the University of Stuttgart, Germany. His research interests lie in the areas of dynamical systems and control theory.
Simon Michalowsky is a research and teaching assistant at the Institute for Systems Theory and Automatic Control and a Ph.D. student at the University of Stuttgart, Germany. His current research interests focus on the analysis and control of nonlinear systems.
Prof. Dr.-Ing. Christian Ebenbauer received his MS (Dipl.-Ing.) in Telematics (Electrical Engineering and Computer Science) from Graz University of Technology, Austria, in 2000 and his PhD (Dr.-Ing.) in Mechanical Engineering from the University of Stuttgart, Germany, in 2005. After having completed his PhD, he was a Postdoctoral Associate and an Erwin Schrodinger Fellow at the Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, USA. Since April 2009, he is professor at the Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany. His research interests lie in the areas of dynamical systems, control theory, optimization and computation.
Prof. Dr.-Ing. Frank Allgöwer is the director of the Institute for Systems Theory and Automatic Control at the University of Stuttgart in Germany. He studied Engineering Cybernetics and Applied Mathematics in Stuttgart and at UCLA respectively and received his Ph.D. degree in chemical engineering from the University of Stuttgart. Frank is editor for Automatica and associated editor for a number of further journals. At present he is Vice President for Technical Activities of the IEEE Control Systems Society (CSS) and a member of the board of Governors of IEEE CSS. His main areas of interest are in cooperative control, predictive control and nonlinear control with application to a wide range of fields including systems biology. Since 2012 Frank serves as vice president of the German Research Foundation DFG.
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