Sliding Motions on SO(3), Sliding Subgroups
Por:
Gomez Cortes G.C., Castanos F., Davila J.
Publicada:
1 ene 2019
Resumen:
We propose a sliding surface for systems on the Lie group SO(3) ×3. The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable equilibrium. The sliding surface is used to design a sliding-mode controller for the attitude control of rigid bodies. The closed-loop system is robust against matched disturbances and does not exhibit the undesired unwinding phenomenon. © 2019 IEEE.
Filiaciones:
Gomez Cortes G.C.:
Cinvestav-IPN, Automatic Control Department, Mexico City, Mexico
Castanos F.:
Cinvestav-IPN, Automatic Control Department, Mexico City, Mexico
Davila J.:
Section of Graduate Studies and Research IPN, ESIME-UPT, Mexico City, Mexico
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