Global Finite-Time Attitude Tracking via Quaternion Feedback
(1602.06492)Abstract
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular velocity, and attitude only. In all three scenarios hybrid control techniques are utilized to overcome the well-known topological constraint on the attitude manifold, while coupled nonsmooth feedback inputs are designed via homogeneous theory to achieve finite-time stability. Specially, a finite-time bias observer is derived in the second scenario and a quaternion filter is constructed to provide damping in the absence of velocity feedback. The proposed methods ensure bounded control torques a priori and, in particular, include several existing attitude controllers as special cases.
We're not able to analyze this paper right now due to high demand.
Please check back later (sorry!).
Generate a summary of this paper on our Pro plan:
We ran into a problem analyzing this paper.