Periodic Event-Triggered Explicit Reference Governor for Constrained Attitude Control on SO(3)

TL;DR

This paper introduces a novel periodic event-triggered control scheme for constrained attitude control on SO(3), avoiding singularities and online optimization, with proven stability and validated through simulations.

Contribution

It proposes a new PET-ERG method that enforces constraints without online optimization and provides rigorous stability analysis on SO(3).

Findings

Ensures input saturation and geometric constraints without continuous updates.

Proves asymptotic stability and exponential convergence for almost all initial states.

Numerical simulations confirm effectiveness and constraint satisfaction.

Abstract

This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler angles. We propose a novel Periodic Event-Triggered Explicit Reference Governor (PET-ERG) that enforces input saturation and geometric pointing constraints without relying on online optimization. A key feature is a periodic event-triggered supervisory update: the auxiliary reference is updated only at sampled instants when a robust safety condition is met, thereby avoiding continuous-time reference updates and enabling a rigorous stability analysis of the cascade system on the manifold. Through this structured approach, we rigorously establish the asymptotic stability and exponential convergence of the closed-loop system for almost all initial configurations. Numerical simulations validate the effectiveness of the proposed control architecture and demonstrate constraint satisfaction and convergence properties.