Geometric Adaptive Robust Sliding-mode Control on SO(3)

Yulin Wang, Xiao Wang, Shengjing Tang, Jie Guo

2019

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 practical with a high accuracy, strong robustness, less chattering and simple structure.

Paper Citation

in Harvard Style

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

in Bibtex Style

@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},
}

in EndNote Style

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