Generalized Homogeneous Rigid-BodyAttitude Control

TL;DR

This paper introduces a nonlinear homogeneous controller for rigid-body attitude tracking that guarantees finite-time convergence and adjustable settling time, with proven stability and demonstrated through simulations.

Contribution

It presents a novel homogeneous control method for attitude tracking with finite-time convergence and adjustable settling time, applicable to full-actuated rigid bodies.

Findings

Global finite-time attitude tracking achieved

Settling time is adjustable via homogeneity degree

Controller stability proven and validated by simulations

Abstract

The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a finite or a (nearly) fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The local input-to-state stability is proven. Simulations illustrating the performance of the proposed algorithm are presented.