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

Marcus Greiff; Anders Robertsson; Zhiyong Sun

doi:10.1109/LCSYS.2021.3049440

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

Marcus Greiff, Anders Robertsson, Zhiyong Sun

Research output: Contribution to journal › Letter › peer-review

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 language	English
Pages (from-to)	73-78
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	6
Early online date	2021 Jan 10
DOIs	https://doi.org/10.1109/LCSYS.2021.3049440
Publication status	Published - 2021

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/LCSYS.2021.3049440

Cite this

@article{c9903a2d3c8c485fa76c07f170ff8839,

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

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.",

author = "Marcus Greiff and Anders Robertsson and Zhiyong Sun",

year = "2021",

doi = "10.1109/LCSYS.2021.3049440",

language = "English",

volume = "6",

pages = "73--78",

journal = "IEEE Control Systems Letters",

issn = "2475-1456",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Attitude Control on SU(2): Stability, Robustness, and Similarities

AU - Greiff, Marcus

AU - Robertsson, Anders

AU - Sun, Zhiyong

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

UR - https://codeocean.com/capsule/2921936/tree/v1

UR - https://github.com/mgreiff/AerialVehicleControl.jl

U2 - 10.1109/LCSYS.2021.3049440

DO - 10.1109/LCSYS.2021.3049440

M3 - Letter

SN - 2475-1456

VL - 6

SP - 73

EP - 78

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

ER -

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

Abstract

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

Nonlinear Control of Unmanned Aerial Vehicles: Systems With an Attitude

Semantic Mapping and Visual Navigation for Smart Robots

Cite this

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

Abstract

Subject classification (UKÄ)

Access to Document

Other files and links

Fingerprint

Research output

Nonlinear Control of Unmanned Aerial Vehicles: Systems With an Attitude

Projects

Semantic Mapping and Visual Navigation for Smart Robots

Cite this