Continuous quaternion based almost global attitude tracking with LMI multi-objective tuning

Thomas Conord (1) , Dimitri Peaucelle (1)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande

This paper considers the attitude control problem of a generic rotating 3 degrees of freedom fully actuated rigid object. The specific studied problem is the deviation control of this object around a theoretically feasible attitude trajectory. The rotation motion has an intrinsic non linear behaviour (trigonometric, 2π-periodicity) that may lead to build non linear and hybrid controllers. This paper considers the opportunity to use the quaternion framework to build a continuous non linear controller that reaches an almost global asymptotical stability.

Domaines: Automatique / Robotique; Automatique

Thomas Conord, Dimitri Peaucelle. Continuous quaternion based almost global attitude tracking with LMI multi-objective tuning. IEEE Conference on Control Technology and Applications (CCTA 2021), Aug 2021, San Diego, United States. ⟨hal-03118544v1⟩