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The attitude control problemA general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework.
Document ID
19920029677
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Wen, John Ting-Yung
(Rensselaer Polytechnic Institute, Troy, NY, United States)
Kreutz-Delgado, Kenneth
(California, University La Jolla, United States)
Date Acquired
August 15, 2013
Publication Date
October 1, 1991
Publication Information
Publication: IEEE Transactions on Automatic Control
Volume: 36
ISSN: 0018-9286
Subject Category
Cybernetics
Accession Number
92A12301
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
CONTRACT_GRANT: NSF IRI-90-57631
Distribution Limits
Public
Copyright
Other

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