Quaternion-Based Hybrid Control for Robust Global Attitude Tracking

By Christopher G. Mayhew, Ricardo G. Sanfelice, Andrew R. Teel. IEEE Transactions on Automatic Control, 2011

430 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/0d6ce919b792240e2e3fb5bf46151228684313a0

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

Almost global finite‐time stabilization of rigid body attitude dynamics using rotation matrices (2016, methodology): “To avoid unwinding and chattering, hybrid feedback control for global attitude stabilization and tracking has been proposed, for example, in [9, 10].”
Robust Adaptive Attitude Tracking on ${\rm SO}(3)$ With an Application to a Quadrotor UAV (2013, background): “Otherwise, it may yield unwinding behaviors, where a rigid body rotates unnecessarily through large angles, or it may become sensitive to small measurement noise [8]–[10].”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, neutral): “As a result, in a quaternion-based attitude control system, convergence to a single attitude implies convergence to either of the two disconnected, antipodal points on S(3) [6].”
Decentralized Consensus Control of a Rigid-Body Spacecraft Formation with Communication Delay (2016, background): “Quaternion-based hybrid feedback control strategies were proposed on SO(3) for a single rigid body [5] or for a network of rigid bodies [6] where the communication architecture was selected in the form of a serial network.”
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers (2014, background): “To avoid these, an additional mechanism to lift attitude onto the unitquaternion space is introduced [28].”
Automatic re-initialization and failure recovery for aggressive flight with a monocular vision-based quadrotor (2015, background): “Vectors without prescripts are expressed in the world coordinate system with the exception of the body rates ω, which are always expressed in body coordinates.”