On Port-Hamiltonian Modeling and Control of Systems with Quaternions
Authors
Kenji FUJIMOTO, Tomoya TAKEUCHI, Yuki MATSUMOTO
Abstract
A quaternion representation is often used to describe the attitude of a spacecraft because it does not have any singular points. However, it becomes difficult to control the attitude described by a quaternion since a quaternion has four parameters despite that the attitude has only three degrees of freedom. In this paper, we employ the concept of port-Hamiltonian modeling to control systems with quaternions to introduce a general nonlinear control system synthesis method in aerospace engineering. It is also shown that the error quaternions are also naturally described by the port-Hamiltonian framework. Furthermore, the additional design parameter achieved by the proposed method is utilized for obstacle avoidance control. A numerical example exhibits the effectiveness of the proposed method.
Citation
- Journal: TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN
- Year: 2016
- Volume: 14
- Issue: ists30
- Pages: Pd_1–Pd_6
- Publisher: Japan Society for Aeronautical and Space Sciences
- DOI: 10.2322/tastj.14.pd_1
BibTeX
@article{FUJIMOTO_2016,
title={{On Port-Hamiltonian Modeling and Control of Systems with Quaternions}},
volume={14},
ISSN={1884-0485},
DOI={10.2322/tastj.14.pd_1},
number={ists30},
journal={TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN},
publisher={Japan Society for Aeronautical and Space Sciences},
author={FUJIMOTO, Kenji and TAKEUCHI, Tomoya and MATSUMOTO, Yuki},
year={2016},
pages={Pd_1-Pd_6}
}