On the Global Behavior of a Geometric PDAV Controller by Means of a Geometrically Exact Linearization

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T11:40:58Z
dc.date.available	2022-09-06T11:40:58Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55599
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23297
dc.rights	Default License
dc.subject	Geometric Control	en
dc.title	On the Global Behavior of a Geometric PDAV Controller by Means of a Geometrically Exact Linearization	en
heal.type	journalArticle
heal.classification	Rigid-body attitude control	en
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2021-02-26
heal.bibliographicCitation	Ramp, M., and Papadopoulos, E. (February 26, 2021). "On the Global Behavior of a Geometric PDAV Controller by Means of a Geometrically Exact Linearization." ASME. J. Dyn. Sys., Meas., Control. July 2021; 143(7): 074501. https://doi.org/10.1115/1.4049552	en
heal.abstract	A complex motion encountered in a number of robotic, industrial, and defense applications is the motion of a rigid body when one of its body-fixed axes tracks a desired pointing direction while it rotates at high angular velocity around the pointing direction (PDAV); during this motion, high frequency precession/nutation oscillations arise. This work analyzes the global/local closed-loop (CL) behavior induced by a developed geometric, PDAV controller and studies the high frequency precession/nutation oscillations that characterize PDAV motions. This is done via geometrically exact linearization and via simulation techniques that amount to charting the smooth CL vector fields on the manifold. A method to quickly estimate the frequency of the precession/nutation oscillations is developed and can be used for sizing actuators. A thorough understanding of the behavior of the CL flow induced by the PDAV controller is achieved, allowing the control engineer to anticipate/have a rough estimate of the system CL response.	en
heal.publisher	American Society of Mechanical Engineers (ASME)	en
heal.journalName	Journal of Dynamic Systems, Measurement, and Control	en
heal.journalType	peer-reviewed
heal.fullTextAvailability	false