Steering on SO(3) with sinusoidal inputs

Shaoqian Wang; Jesse B. Hoagg; T. Michael Seigler

doi:10.23919/ACC.2017.7963019

Steering on SO(3) with sinusoidal inputs

Shaoqian Wang, Jesse B. Hoagg, T. Michael Seigler

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents steering control strategies for kinematic system = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to establish controllability of the kinematic system with the sinusoidal input restriction. We then present a feedback controller that globally asymptotically stabilizes the identity, and a feedback tracking controller that yields bounded error.

Original language	English
Title of host publication	2017 American Control Conference, ACC 2017
Pages	604-609
Number of pages	6
ISBN (Electronic)	9781509059928
DOIs	https://doi.org/10.23919/ACC.2017.7963019
State	Published - Jun 29 2017
Event	2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2017 American Control Conference, ACC 2017
Country/Territory	United States
City	Seattle
Period	5/24/17 → 5/26/17

Bibliographical note

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/ACC.2017.7963019

Cite this

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title = "Steering on SO(3) with sinusoidal inputs",

abstract = "This paper presents steering control strategies for kinematic system = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to establish controllability of the kinematic system with the sinusoidal input restriction. We then present a feedback controller that globally asymptotically stabilizes the identity, and a feedback tracking controller that yields bounded error.",

author = "Shaoqian Wang and Hoagg, {Jesse B.} and Seigler, {T. Michael}",

note = "Publisher Copyright: {\textcopyright} 2017 American Automatic Control Council (AACC).; 2017 American Control Conference, ACC 2017 ; Conference date: 24-05-2017 Through 26-05-2017",

year = "2017",

month = jun,

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doi = "10.23919/ACC.2017.7963019",

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AU - Wang, Shaoqian

AU - Hoagg, Jesse B.

AU - Seigler, T. Michael

PY - 2017/6/29

Y1 - 2017/6/29

N2 - This paper presents steering control strategies for kinematic system = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to establish controllability of the kinematic system with the sinusoidal input restriction. We then present a feedback controller that globally asymptotically stabilizes the identity, and a feedback tracking controller that yields bounded error.

AB - This paper presents steering control strategies for kinematic system = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to establish controllability of the kinematic system with the sinusoidal input restriction. We then present a feedback controller that globally asymptotically stabilizes the identity, and a feedback tracking controller that yields bounded error.

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DO - 10.23919/ACC.2017.7963019

M3 - Conference contribution

AN - SCOPUS:85027063933

T3 - Proceedings of the American Control Conference

SP - 604

EP - 609

BT - 2017 American Control Conference, ACC 2017

T2 - 2017 American Control Conference, ACC 2017

Y2 - 24 May 2017 through 26 May 2017

ER -

Steering on SO(3) with sinusoidal inputs

Abstract

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Bibliographical note

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