Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2023
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| _version_ | 1866910356556742656 |
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| author | Tong, Xin Cheng, Shing Shin |
| author_facet | Tong, Xin Cheng, Shing Shin |
| contents | Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space. However, when switching faults occur due to parameter errors, the non-centrally synergistic property can lead to the unwinding problem or in some cases, destabilize the desired set. In this work, a hybrid controller is first proposed based on a novel centrally synergistic family of potential functions on $\mathbb{S}^n$, which is generated from a basic potential function through angular warping. The synergistic parameter can be explicitly expressed if the warping angle has a positive lower bound at the undesired critical points of the family. Next, the proposed approach induces a new quaternion-based controller for global attitude tracking. It has three advantageous features over existing synergistic designs: 1) it is consistent, i.e., free from the ambiguity of unit quaternion representation; 2) it is switching-fault-tolerant, i.e., the desired closed-loop equilibria remain asymptotically stable even when the switching mechanism does not work; 3) it relaxes the assumption on the parameter of the basic potential function in literature. Comprehensive simulation confirms the high robustness of the proposed centrally synergistic approach compared with existing non-centrally synergistic approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2306_05234 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking Tong, Xin Cheng, Shing Shin Systems and Control Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space. However, when switching faults occur due to parameter errors, the non-centrally synergistic property can lead to the unwinding problem or in some cases, destabilize the desired set. In this work, a hybrid controller is first proposed based on a novel centrally synergistic family of potential functions on $\mathbb{S}^n$, which is generated from a basic potential function through angular warping. The synergistic parameter can be explicitly expressed if the warping angle has a positive lower bound at the undesired critical points of the family. Next, the proposed approach induces a new quaternion-based controller for global attitude tracking. It has three advantageous features over existing synergistic designs: 1) it is consistent, i.e., free from the ambiguity of unit quaternion representation; 2) it is switching-fault-tolerant, i.e., the desired closed-loop equilibria remain asymptotically stable even when the switching mechanism does not work; 3) it relaxes the assumption on the parameter of the basic potential function in literature. Comprehensive simulation confirms the high robustness of the proposed centrally synergistic approach compared with existing non-centrally synergistic approaches. |
| title | Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2306.05234 |