Global closed-loop equilibrium properties of a geometric PDAV controller via a coordinate-free linearization

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T12:54:12Z
dc.date.available	2022-09-06T12:54:12Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55605
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23303
dc.rights	Default License
dc.subject	Dynamic system analysis	en
dc.title	Global closed-loop equilibrium properties of a geometric PDAV controller via a coordinate-free linearization	en
heal.type	conferenceItem
heal.classification	Geometric control	en
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2018-11-29
heal.bibliographicCitation	M. Ramp and E. Papadopoulos, "Global closed-loop equilibrium properties of a geometric PDAV controller via a coordinate-free linearization," 2018 European Control Conference (ECC), 2018, pp. 1250-1256, doi: 10.23919/ECC.2018.8550584.	en
heal.abstract	Tracking a desired Pointing Direction and simultaneously obtaining a reference Angular Velocity (PDAV) around the pointing direction constitutes a very involved and complicated motion encountered in a variety of robotic, industrial and military applications. In this paper through the utilization of global analysis and simulation techniques, the smooth closed- loop vector fields induced by the geometric PDAV controller from [1], are visualized to gain a deeper understanding of its global stabilization properties. First through the calculation of a coordinate-free form of the closed-loop linearized dynamics, the local stability of each equilibrium of the system is analyzed. The results acquired by means of eigenstructure analysis, are used in predicting the frequency of complex precession/nutation oscillations that arise during PDAV trajectory tracking; an important tool in actuator selection. Finally, by utilizing variational integration schemes, the flow converging to the desired equilibrium and the flow “close” to the stable manifold of the saddle equilibrium of the closed-loop system is visualized and analyzed. Results offer intimate knowledge of the closed-loop vector fields bestowing to the control engineer the ability to anticipate and have an estimate of the evolution of the solutions.	en
heal.publisher	IEEE	en
heal.fullTextAvailability	false
heal.conferenceName	European Control Conference (ECC)	en
heal.conferenceItemType	full paper