Asymptotic and finite-time almost global attitude tracking: representations free approach Article Swipe

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Jieqiang Wei , Christos K. Verginis , Junfeng Wu , Dimos V. Dimarogonas , Henrik Sandberg , Karl Henrik Johansson ·

YOU? · · 2017 · Open Access · · DOI: https://doi.org/10.48550/arxiv.1711.04659

In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$. Hence in this work, we propose some control protocols achieve almost global tracking asymptotically and in finite time, respectively. In these protocols, no world frame is needed and only relative state informations are requested. For finite-time tracking case, Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

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Classification of discontinuities Tracking (education) Rotation (mathematics) Frame (networking) Control theory (sociology) Control (management) Computer science State (computer science) Angular velocity Mathematics Algorithm Artificial intelligence Mathematical analysis Quantum mechanics Physics Psychology Pedagogy Telecommunications

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/1711.04659
PDF: https://arxiv.org/pdf/1711.04659
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References: 2
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DOI: https://doi.org/10.48550/arxiv.1711.04659

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Title: Asymptotic and finite-time almost global attitude tracking: representations free approach

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Language: en

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Publication year: 2017

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Publication date: 2017-11-10

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Authors: Jieqiang Wei, Christos K. Verginis, Junfeng Wu, Dimos V. Dimarogonas, Henrik Sandberg, Karl Henrik Johansson

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Landing page: https://arxiv.org/abs/1711.04659

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Concepts: Classification of discontinuities, Tracking (education), Rotation (mathematics), Frame (networking), Control theory (sociology), Control (management), Computer science, State (computer science), Angular velocity, Mathematics, Algorithm, Artificial intelligence, Mathematical analysis, Quantum mechanics, Physics, Psychology, Pedagogy, Telecommunications

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abstract_inverted_index.with	26
abstract_inverted_index.Hence	34
abstract_inverted_index.case,	71
abstract_inverted_index.frame	58
abstract_inverted_index.state	64
abstract_inverted_index.these	54
abstract_inverted_index.time,	51
abstract_inverted_index.using	9
abstract_inverted_index.work,	37
abstract_inverted_index.world	57
abstract_inverted_index.almost	44
abstract_inverted_index.finite	50
abstract_inverted_index.global	24, 45
abstract_inverted_index.handle	81
abstract_inverted_index.needed	60
abstract_inverted_index.paper,	2
abstract_inverted_index.paper.	99
abstract_inverted_index.system	31
abstract_inverted_index.verify	89
abstract_inverted_index.achieve	23, 43
abstract_inverted_index.adopted	79
abstract_inverted_index.control	30, 41, 94
abstract_inverted_index.problem	6
abstract_inverted_index.propose	39
abstract_inverted_index.$SO(3)$.	33
abstract_inverted_index.Filippov	72
abstract_inverted_index.analysis	76
abstract_inverted_index.attitude	4, 29
abstract_inverted_index.designed	96
abstract_inverted_index.examples	85
abstract_inverted_index.inherent	16
abstract_inverted_index.provided	87
abstract_inverted_index.relative	63
abstract_inverted_index.rotation	11
abstract_inverted_index.tracking	5, 46, 70
abstract_inverted_index.matrices.	12
abstract_inverted_index.protocols	42, 95
abstract_inverted_index.solutions	73
abstract_inverted_index.Simulation	84
abstract_inverted_index.considered	8
abstract_inverted_index.continuous	28
abstract_inverted_index.impossible	21
abstract_inverted_index.non-smooth	75
abstract_inverted_index.protocols,	55
abstract_inverted_index.requested.	67
abstract_inverted_index.techniques	77
abstract_inverted_index.finite-time	69
abstract_inverted_index.topological	17
abstract_inverted_index.attractivity	25
abstract_inverted_index.informations	65
abstract_inverted_index.performances	91
abstract_inverted_index.restriction,	18
abstract_inverted_index.respectively.	52
abstract_inverted_index.asymptotically	47
abstract_inverted_index.discontinuities.	83
cited_by_percentile_year
countries_distinct_count	2
institutions_distinct_count	6
citation_normalized_percentile