In this letter, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.
Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC / Mattioni, M.; Moreschini, A.; Monaco, S.; Normand-Cyrot, D.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 6:(2022), pp. 2665-2670. [10.1109/LCSYS.2022.3173509]
Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC
Mattioni M.
;Moreschini A.;Monaco S.;
2022
Abstract
In this letter, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.| File | Dimensione | Formato | |
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