Authors:
Margrete Djupaa
and
Rune Schlanbusch
Affiliation:
Narvik University College, Norway
Keyword(s):
Dual Equilibria, Quaternions, Rotational Energy, PD+ Controller.
Related
Ontology
Subjects/Areas/Topics:
Application Domains
;
Formal Methods
;
Non-Linear Systems
;
Optimization Issues
;
Performance Analysis
;
Robotics, Automation and Mechatronics
;
Simulation and Modeling
;
Simulation Tools and Platforms
Abstract:
By parameterizing the attitude of a rotating rigid body in a closed-loop system with unit quaternions, the existence of dual equilibria leads to new challenges. In order to optimize the energy consumption due to control effort, the choice of the cheapest equilibria, that is, the one which requires least energy to reach, is essential. A new predicting solution of choosing the optimal equilibrium point for rotational maneuvers of a rigid body is presented in this article. This new solution consists of an energy function which base its prediction on the initial attitude on the rotational sphere, taking account for both potential and kinetic energy of the rigid body. The equilibrium energy function is developed through a previously presented statistical analysis for the system behaviour of a rigid body in closed loop attitude control.