|Constrained Geometric Attitude Control on SO(3)
Shankar Kulumani* and Taeyoung Lee
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2796-2809, 2017
Abstract : "This paper presents a new geometric adaptive control system with state inequality constraints for the
attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically
stabilized, while the controlled attitude trajectory avoids undesired regions defined by an inequality constraint. In
addition, we develop an adaptive update law that enables attitude stabilization in the presence of unknown disturbances.
The attitude dynamics and the proposed control systems are developed on the special orthogonal group such
that singularities and ambiguities of other attitude parameterizations, such as Euler angles and quaternions are completely
avoided. The effectiveness of the proposed control system is demonstrated through numerical simulations
and experimental results."
Adaptive control, attitude control, constraint, obstacle, special orthogonal group.