{"title":"基于最小投影法的刚体姿态路径跟踪控制","authors":"Seiya Nomura, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato","doi":"10.1109/CCTA.2018.8511603","DOIUrl":null,"url":null,"abstract":"In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"157 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method\",\"authors\":\"Seiya Nomura, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato\",\"doi\":\"10.1109/CCTA.2018.8511603\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.\",\"PeriodicalId\":358360,\"journal\":{\"name\":\"2018 IEEE Conference on Control Technology and Applications (CCTA)\",\"volume\":\"157 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE Conference on Control Technology and Applications (CCTA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCTA.2018.8511603\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE Conference on Control Technology and Applications (CCTA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCTA.2018.8511603","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method
In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
