Research output per year
Research output per year
Marcus Greiff, Zhiyong Sun, Anders Robertsson
Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review
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 language | English |
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Title of host publication | 2021 American Control Conference, ACC 2021 |
Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
Pages | 1674-1680 |
Number of pages | 7 |
ISBN (Electronic) | 9781665441971 |
DOIs | |
Publication status | Published - 2021 May 25 |
Event | 2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States Duration: 2021 May 25 → 2021 May 28 |
Name | Proceedings of the American Control Conference |
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Volume | 2021-May |
ISSN (Print) | 0743-1619 |
Conference | 2021 American Control Conference, ACC 2021 |
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Country/Territory | United States |
City | Virtual, New Orleans |
Period | 2021/05/25 → 2021/05/28 |
Research output: Thesis › Doctoral Thesis (compilation)