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- W2057428369 abstract "It has been recently shown in [1,2] that there exist stabilizing proportional-plus-derivative (PD)-type control laws for the problem of attitude stabilization under the so-called Rodriguez or modified Rodriguez orientation parameters [3]. The contribution in [1,2] depends on passivity theory and the author shows that there exists a storage function that describes the passivity of the system. In this Note, we show via simulation that these PD-type control laws are not generally robust with respect to bounded disturbances and provide a sufficient condition under which nonlinear-type control laws can render the system semiglobally input-to-state stable. As such, the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. The rest of this Note is organized as follows: In Sec. II, we state the underlying kinematic model and provide an example on the lack of robustness in passivity-based control laws proposed in [1]. In Sec. III, we review the basic definitions of input-to-state stability (ISS) and show that our proposed nonlinear control law guarantees semiglobal ISS with respect to input disturbances. We show in Sec. IV that the same example, which is provided under the proposed control law, is stable under identical conditions." @default.
- W2057428369 created "2016-06-24" @default.
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- W2057428369 date "2008-11-01" @default.
- W2057428369 modified "2023-09-25" @default.
- W2057428369 title "Input-to-State Stable Attitude Control" @default.
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- W2057428369 doi "https://doi.org/10.2514/1.37529" @default.
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