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Conference Papers Year : 2022

Homogeneous Finite-time Tracking Control on Lie Algebra so(3)

Abstract

An attitude tracking problem for a full-actuated rigid body in 3-D is studied using a model of rotation dynamics on the Lie group SO(3). A generalized homogeneous control is adopted to achieve tracking of a smooth attitude trajectory in a finite-time. The attitude dynamics on the Lie algebra so(3) is utilized to design the homogeneous control, since SO(3) is not a vector space. A switch control is proposed for achieving global finite-time tracking by combining a global asymptotic control with local homogeneous control. The simulations illustrate the performance of the proposed control algorithm.
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Dates and versions

hal-03837838 , version 1 (03-11-2022)

Identifiers

  • HAL Id : hal-03837838 , version 1

Cite

Yu Zhou, Andrey Polyakov, Gang Zheng. Homogeneous Finite-time Tracking Control on Lie Algebra so(3). ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. ⟨hal-03837838⟩
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