Attitude Control on SU(2): Stability, Robustness, and Similarities

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2 Citations (SciVal)

Abstract

This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is given for the controllers on SU(2), which is illustrated by simulation examples.
Original languageEnglish
Pages (from-to)73-78
Number of pages6
JournalIEEE Control Systems Letters
Volume6
Early online date2021 Jan 10
DOIs
Publication statusPublished - 2021

Subject classification (UKÄ)

  • Control Engineering

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