Cavalcanti, J, Figueredo, LFC orcid.org/0000-0002-0759-3000 and Ishihara, JY (2016) Quaternion-based H∞ attitude tracking control of rigid bodies with time-varying delay in attitude measurements. In: 2016 IEEE 55th Conference on Decision and Control (CDC). 55th IEEE Conference on Decision and Control, 12-14 Dec 2016, Las Vegas, USA. IEEE , pp. 1423-1428. ISBN 9781509018376
Abstract
The problem of attitude and angular velocity tracking in the presence of exogenous disturbances and where feedback measurements are subjected to unknown time-varying delays is addressed. Sufficient conditions which guarantee stability and disturbance attenuation performance in the H∞ sense are provided. Results are presented in the form of LMIs, which allow the conditions to be simply and efficiently computed. Using a simple quaternion-based linear state feedback controller and a feedforward term to compensate the nonlinearities of the system dynamics, simulation results illustrate that the control law is able to effectively track desired trajectories and reject disturbances even in the presence of large time-varying delays.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | ©2016 IEEE. This is an author produced version of a paper published in the proceedings of the 2016 IEEE 55th Conference on Decision and Control (CDC). 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. |
Dates: |
|
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 08:55 |
Last Modified: | 31 Aug 2018 09:01 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/CDC.2016.7798466 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:135132 |