论文标题
广义同质刚性控制
Generalized Homogeneous Rigid-BodyAttitude Control
论文作者
论文摘要
使用基于Lie代数SO的冲动系统模型（3）研究了3D中全型刚体的态度跟踪问题。非线性均匀控制器旨在在有限的固定时间或（几乎）固定时间中全球跟踪平滑的态度轨迹。获得了全球结算时间估计，可以通过调整均匀性度来容易调节。局部输入到州的稳定性已得到证明。提供了说明所提出算法的性能的模拟。
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.
