Attitude and angular velocity tracking for a rigid body using geometric methods on the two-sphere

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T12:23:45Z
dc.date.available	2022-09-06T12:23:45Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55602
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23300
dc.rights	Default License
dc.subject	Rigid-body attitude control	el
dc.title	Attitude and angular velocity tracking for a rigid body using geometric methods on the two-sphere	en
heal.type	conferenceItem
heal.classification	Geometric Control	el
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2015-11-23
heal.bibliographicCitation	M. Ramp and E. Papadopoulos, "Attitude and angular velocity tracking for a rigid body using geometric methods on the two-sphere," 2015 European Control Conference (ECC), 2015, pp. 3238-3243, doi: 10.1109/ECC.2015.7331033.	en
heal.abstract	The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed here. Existing geometric controllers developed on the two-sphere only address the tracking of a reference pointing direction while driving the angular velocity about the pointing direction to zero. In this paper a tracking controller on the two-sphere, able to address the PDAV control task, is developed globally in a geometric frame work, to avoid problems related to other attitude representations such as unwinding (quaternions) or singularities (Euler angles). An attitude error function is constructed resulting in a control system with desired tracking performance for rotational maneuvers with large initial attitude/angular velocity errors and the ability to negotiate bounded modeling inaccuracies. The tracking ability of the developed control system is evaluated by comparing its performance with an existing geometric controller on the two-sphere and by numerical simulations, showing improved performance for large initial attitude errors, smooth transitions between desired angular velocities and the ability to negotiate bounded modeling inaccuracies.	en
heal.publisher	IEEE	en
heal.fullTextAvailability	false
heal.conferenceName	European Control Conference (ECC)	en
heal.conferenceItemType	full paper