http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Constrained Geometric Attitude Control on SO(3)
Shankar Kulumani,이태영 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
This paper presents a new geometric adaptive control system with state inequality constraints for theattitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptoticallystabilized, while the controlled attitude trajectory avoids undesired regions defined by an inequality constraint. Inaddition, we develop an adaptive update law that enables attitude stabilization in the presence of unknown disturbances. The attitude dynamics and the proposed control systems are developed on the special orthogonal group suchthat singularities and ambiguities of other attitude parameterizations, such as Euler angles and quaternions are completelyavoided. The effectiveness of the proposed control system is demonstrated through numerical simulationsand experimental results.