Generalized Homogeneous Rigid-BodyAttitude Control
arXiv:2210.01530
Abstract
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a finite or a (nearly) fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The local input-to-state stability is proven. Simulations illustrating the performance of the proposed algorithm are presented.
Global homogeneous attitude finite/fixed-time attitude controller. Strict Lyapunov and settling time estimate is provided