Quaternion-Based Attitude Stabilization Using Synergistic Hybrid Feedback With Minimal Potential Functions
arXiv:2404.08326 · doi:10.1016/j.automatica.2024.111785
Abstract
This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates central synergism by utilizing a minimal number of potential functions; (2) It ensures consistency with respect to the unit quaternion representation of rigid-body attitude; (3) Its state-feedback laws incorporate a shared action term that steers the system toward the desired attitude. We demonstrate that the proposed hybrid feedback method effectively solves the problem at hand and guarantees robust uniform global asymptotic stability.
arXiv comment14 pages, 6 figures, extended version of a paper accepted for publication in Automatica
References in corpus (4)
- Global Finite-Time Attitude Consensus of Leader-Following Spacecraft Systems Based on Distributed Observers
- Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking
- Synergistic Potential Functions from Single Modified Trace Function on SO(3)
- Quaternion-Based Attitude Stabilization Using Synergistic Hybrid Feedback With Minimal Potential Functions