TY - GEN
T1 - Steering on SO(3) with sinusoidal inputs
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.
UR - http://www.scopus.com/inward/record.url?scp=85027063933&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027063933&partnerID=8YFLogxK
U2 - 10.23919/ACC.2017.7963019
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
Y2 - 24 May 2017 through 26 May 2017
ER -