Rigid-body attitude stabilization with attitude and angular rate constraints

• Main Authors: Shen, Qiang, Yue, Chengfei, Goh, Cher Hiang, Wu, Baolin, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Rigid-body Attitude Control; Attitude Constraint
• Online Access: https://hdl.handle.net/10356/137849
• Institution: Nanyang Technological University

In this paper, a solution to the problem of rest-to-rest three-axis attitude reorientation of a fully actuated rigid body under multiple attitude-constraint zones and angular velocity limits is presented. Based on the unit-quaternion parameterized attitude-constrained zones, a quadratic potential fu...