Port-Hamiltonian Formulation of Rigid-Body Attitude Control
Authors
Paolo Forni, Dimitri Jeltsema, Gabriel A.D. Lopes
Abstract
The aim of this paper is to present a port-Hamiltonian (pH) formulation of the rigidbody attitude control problem, therefore enhancing the set of available tools for its modeling and control. First, a pH formulation of both dynamics and kinematics equations is presented. Second, a standard energy-balancing passivity-based controller (EB-PBC) is used for set-point tracking. Third, the controlled system is endowed with a dynamical extension to achieve set-point tracking without measuring the angular velocities. As a conclusive remark, it is showed under specific assumptions that these three results can be achieved regardless the coordinate representation in use. Additional examples follow to motivate the adoption of the pH formulation.
Keywords
Attitude control; port-Hamiltonian systems; nonlinear control systems
Citation
- Journal: IFAC-PapersOnLine
- Year: 2015
- Volume: 48
- Issue: 13
- Pages: 164–169
- Publisher: Elsevier BV
- DOI: 10.1016/j.ifacol.2015.10.233
- Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015
BibTeX
@article{Forni_2015,
title={{Port-Hamiltonian Formulation of Rigid-Body Attitude Control}},
volume={48},
ISSN={2405-8963},
DOI={10.1016/j.ifacol.2015.10.233},
number={13},
journal={IFAC-PapersOnLine},
publisher={Elsevier BV},
author={Forni, Paolo and Jeltsema, Dimitri and Lopes, Gabriel A.D.},
year={2015},
pages={164--169}
}
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