Tuning and Analysis of Geometric Tracking Controllers on SO(3)

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Abstract

This paper concerns the robustness of attitude controllers for dynamics configured on the SO(3) manifold and poses a set of bilinear matrix inequalities to find an optimal controller tuning with respect to (i) the ultimate bound of the error-state trajectories when perturbed by naturally arising disturbances, and (ii) the worst-case decay rate of the tracking errors. The presented optimization problem can be solved both to generate a robust tuning for experimental applications, and also to facilitate qualitative comparisons of different attitude controllers present in the literature. To solve the tuning problem, we propose an algorithm based on alternating semidefinite programming, with local linearizations of an upper bound of the associated cost function. The soundness of this approach is illustrated by comparison to an interior-point method. The algorithm is subsequently used to provide insights for the tuning of the considered controllers, and finally demonstrated by a closed-loop simulation example.

Original languageEnglish
Title of host publication2021 American Control Conference, ACC 2021
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages1674-1680
Number of pages7
ISBN (Electronic)9781665441971
DOIs
Publication statusPublished - 2021 May 25
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: 2021 May 252021 May 28

Publication series

NameProceedings of the American Control Conference
Volume2021-May
ISSN (Print)0743-1619

Conference

Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans
Period2021/05/252021/05/28

Subject classification (UKÄ)

  • Control Engineering

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