Quaternion-based attitude stabilization via discrete-time IDA-PBC
Mattia Mattioni (DIAG), Alessio Moreschini (DIAG), Salvatore Monaco, (DIAG), Doroth\'ee Normand-Cyrot (L2S)
TL;DR
This paper introduces a novel sampled-data controller for attitude stabilization using discrete-time IDA-PBC and Hamiltonian representation, with simulations demonstrating its effectiveness.
Contribution
It presents a new discrete-time IDA-PBC controller for attitude stabilization based on Hamiltonian dynamics, advancing control design methods.
Findings
Controller successfully stabilizes attitude at desired configuration
Simulations confirm effective performance of the proposed method
Approximations are validated through numerical results
Abstract
In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.
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Taxonomy
TopicsControl and Stability of Dynamical Systems · Adaptive Control of Nonlinear Systems · Neural Networks and Applications