Unit quaternions are a powerful tool for singularity free analysis and the control of arbitrary amplitude motion in a three-dimensional space. The authors present the use of proportional derivative quaternion feedback stabilisation for relative motion attitude control. Global asymptotic stability is guaranteed by defining a particular Lyapunov function and formal requirements are established. Conditions for a finite time control are also presented.

Stability Considerations in Quaternion Attitude Control using Discontinuous Lyapunov Functions

INNOCENTI, MARIO
2004-01-01

Abstract

Unit quaternions are a powerful tool for singularity free analysis and the control of arbitrary amplitude motion in a three-dimensional space. The authors present the use of proportional derivative quaternion feedback stabilisation for relative motion attitude control. Global asymptotic stability is guaranteed by defining a particular Lyapunov function and formal requirements are established. Conditions for a finite time control are also presented.
2004
Fragopoulos, D; Innocenti, Mario
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/87666
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 93
  • ???jsp.display-item.citation.isi??? 67
social impact