Passivity Based Attitude Control of Rigid Bodies

descriptionPublicationkeyboard_double_arrow_right Article 18 Mar 2013 English Publisher:WileyJournal:Asian Journal of Control, volume 16, pages 802-817 (issn: 1561-8625, eissn: 1934-6093,

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Authors: Wang, Hanlei; Xie, Yongchun;

doi: 10.1002/asjc.616

Passivity Based Attitude Control of Rigid Bodies

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Abstract

AbstractIn this paper, we present a tutorial on passivity based attitude control that has been investigated over the past two decades. Both regulation control and adaptive tracking control for the attitude motion of rigid bodies are discussed under a unified passivity framework. Our attention is mainly confined to the attitude control schemes that are based on the passivity notion. Output feedback attitude control, attitude synchronization, and some open problems are also discussed.

Keywords

passivity based control, rigid bodies, Adaptive control/observation systems, Control of mechanical systems, Sensitivity (robustness), adaptive attitude tracking, Control/observation systems governed by ordinary differential equations, potential shaping, attitude regulation

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