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Authors: Yulin Wang ; Xiao Wang ; Shengjing Tang and Jie Guo

Affiliation: School of Aerospace and Engineering, Beijing Institute of Technology, Beijing and China

ISBN: 978-989-758-380-3

Keyword(s): Geometric Attitude Control, SO(3), Adaptive Robust Control, Sliding-mode Control.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Real-Time Systems Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Modeling

Abstract: This paper addresses the rigid body attitude tracking control on the manifold SO(3) . This modeling scheme can avoid the singularity and ambiguity associated with local parameterization representations such as Euler angles and quaternion. A robust and almost global asymptotic stability control system is designed considering the parameters uncertainty and external interference. Based on the coordinate-free geodesic attitude error scalar function with its deduced attitude and velocity error vectors, a geometric asymptotic convergent sliding-mode surface is designed firstly. Then, a geometric sliding-mode controller is introduced to enhance the robustness of the system for the low-amplitude fast-time-varying disturbances. Moreover, in order to attenuate the effect of the parameters uncertainty and slow-time-varying disturbance, two adaptive functions are employed to obtain the feedforward compensation. Comparison studies and simulation results show that the proposed controller is more pr actical with a high accuracy, strong robustness, less chattering and simple structure. (More)

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Paper citation in several formats:
Wang, Y.; Wang, X.; Tang, S. and Guo, J. (2019). Geometric Adaptive Robust Sliding-mode Control on SO(3).In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 328-338. DOI: 10.5220/0007917003280338

@conference{icinco19,
author={Yulin Wang. and Xiao Wang. and Shengjing Tang. and Jie Guo.},
title={Geometric Adaptive Robust Sliding-mode Control on SO(3)},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={328-338},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007917003280338},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Geometric Adaptive Robust Sliding-mode Control on SO(3)
SN - 978-989-758-380-3
AU - Wang, Y.
AU - Wang, X.
AU - Tang, S.
AU - Guo, J.
PY - 2019
SP - 328
EP - 338
DO - 10.5220/0007917003280338

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