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Baumgarte Stabilisation over the SO(3) Rotation Group for Control

Sébastien Gros (Institutionen för signaler och system, Reglerteknik) ; Marion Zanon ; Moritz Diehl
54th IEEE Conference on Decision and Control (CDC). Dec 15-18, 2015, Osaka, Japan, p. 620-625. (2015)
[Konferensbidrag, refereegranskat]

Representations of the SO(3) rotation group are crucial for airborne and aerospace applications. Euler angles is a popular representation in many applications, but yield models having singular dynamics. This issue is addressed via non-singular representations, operating in dimensions higher than 3. Unit quaternions and the Direction Cosine Matrix are the best known non-singular representations, and favoured in challenging aeronautic and aerospace applications. All non-singular representations yield invariants in the model dynamics, i.e. a set of nonlinear algebraic conditions that must be fulfilled by the model initial conditions, and that remain fulfilled over time. However, due to numerical integration errors, these conditions tend to become violated when using standard integrators, making the model inconsistent with the physical reality. This issue poses some challenges when non-singular representations are deployed in optimal control. In this paper, we propose a simple technique to address the issue for classical integration schemes, establish formally its properties, and illustrate it on the optimal control of a satellite.



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Denna post skapades 2015-12-16. Senast ändrad 2016-12-14.
CPL Pubid: 228487

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik (2005-2017)

Ämnesområden

Informations- och kommunikationsteknik
Data- och informationsvetenskap

Chalmers infrastruktur