利用具有最小势函数的协同混合反馈实现基于四元数的姿态稳定

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-07-27 DOI:10.1016/j.automatica.2024.111785

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引用次数: 0

摘要

本文利用基于四元数的反馈，研究了刚体系统的稳健全局姿态稳定问题。我们提出了一种新型协同混合反馈，具有以下显著特点：(1) 它通过使用最少的势函数来展示中心协同效应；(2) 它确保了刚体姿态的单位四元数表示的一致性；(3) 它的状态反馈规律包含一个共享的动作项，可引导系统实现所需的姿态。我们证明，所提出的混合反馈方法能有效解决当前问题，并保证稳健的全局渐近统一稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Quaternion-based attitude stabilization using synergistic hybrid feedback with minimal potential functions

This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates central synergism by utilizing a minimal number of potential functions; (2) It ensures consistency with respect to the unit quaternion representation of rigid-body attitude; (3) Its state-feedback laws incorporate a shared action term that steers the system towards the desired attitude. We demonstrate that the proposed hybrid feedback method effectively solves the problem at hand and guarantees robust uniform global asymptotic stability.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.