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Constrained rigid body attitude stabilization: an anti-windup approach

Constrained rigid body attitude stabilization: an anti-windup approach
Constrained rigid body attitude stabilization: an anti-windup approach
This letter considers the rigid body attitude stabilization problem with actuator saturation. This problem has been considered in the literature before, but most approaches achieve stability at the expense of strict constraints on the control gains, thereby limiting small-signal performance. The approach proposed here removes the constraints on the gains of the nominal controller and instead deals with the control constraints through an anti-windup mechanism, effectively allowing for more freedom in small signal behavior whilst preserving stability in the large. Although the rigid body stabilization problem is inherently nonlinear, the spirit of the results developed here resemble constrained-control results for linear systems containing imaginary axis poles, despite some subtle differences which need careful consideration.
1943-0663
1663 - 1668
Turner, Matthew
6befa01e-0045-4806-9c91-a107c53acba0
Richards, Christopher M.
0018ac1e-30be-43a7-a51e-be7b86b54e23
Turner, Matthew
6befa01e-0045-4806-9c91-a107c53acba0
Richards, Christopher M.
0018ac1e-30be-43a7-a51e-be7b86b54e23

Turner, Matthew and Richards, Christopher M. (2020) Constrained rigid body attitude stabilization: an anti-windup approach. IEEE Embedded Systems Letters, 1663 - 1668. (doi:10.1109/LCSYS.2020.3042932).

Record type: Article

Abstract

This letter considers the rigid body attitude stabilization problem with actuator saturation. This problem has been considered in the literature before, but most approaches achieve stability at the expense of strict constraints on the control gains, thereby limiting small-signal performance. The approach proposed here removes the constraints on the gains of the nominal controller and instead deals with the control constraints through an anti-windup mechanism, effectively allowing for more freedom in small signal behavior whilst preserving stability in the large. Although the rigid body stabilization problem is inherently nonlinear, the spirit of the results developed here resemble constrained-control results for linear systems containing imaginary axis poles, despite some subtle differences which need careful consideration.

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Constrained rigid body attitude stabilization: an anti-windup approach - Accepted Manuscript
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More information

Accepted/In Press date: 24 November 2020
e-pub ahead of print date: 7 December 2020

Identifiers

Local EPrints ID: 446231
URI: http://eprints.soton.ac.uk/id/eprint/446231
ISSN: 1943-0663
PURE UUID: 264feecf-59cd-4b3a-9a13-c33b120922d9

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Date deposited: 29 Jan 2021 17:32
Last modified: 25 Nov 2021 18:43

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Contributors

Author: Matthew Turner
Author: Christopher M. Richards

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