Cavalcanti, J, Figueredo, LFC orcid.org/0000-0002-0759-3000 and Ishihara, JY (2018) Robust Controller Design for Attitude Dynamics Subjected to Time-Delayed State Measurements. IEEE Transactions on Automatic Control, 63 (7). pp. 2191-2198. ISSN 0018-9286
Abstract
Attitude control and time-delay systems are well-developed fields in the control theory, but only a modicum of papers have explored control systems that fall within the intersection of the two. Indeed, combining kinematics and dynamics nonlinearities with sensor and actuator delays reinvigorates the original attitude control problem, typically leading to involved stability arguments based on nonlinear analysis techniques. This paper instead proposes solving the attitude stabilizer design problem by formulating it as a linear matrix inequality feasibility problem. The proposed approach simplifies the stability arguments, without loosing generality; the obtained conditions cope with the general case of rigid bodies that suffer from unknown, heterogeneous, time-varying state measurement delays, and have inertia uncertainties. This methodology is particularly well suited to resource-limited applications, because controllers can be designed offline using computationally efficient tools. Although simple, numerical evidence shows the stability criterion derived in this paper largely outperforms previous results.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. This is an author produced version of a paper published in IEEE Transactions on Automatic Control. Uploaded in accordance with the publisher's self-archiving policy. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Attitude control, delay systems, robust control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 31 Aug 2018 09:15 |
Last Modified: | 20 Dec 2023 02:43 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TAC.2017.2760624 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:135130 |