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Safi, M., Mortazavi, M., Dibaji, S. (2018). Global Stabilization of Attitude Dynamics: SDRE-based Control Designs. AUT Journal of Modeling and Simulation, 50(2), 203-210. doi: 10.22060/miscj.2018.13961.5087
M. Safi; M. Mortazavi; S.M. Dibaji. "Global Stabilization of Attitude Dynamics: SDRE-based Control Designs". AUT Journal of Modeling and Simulation, 50, 2, 2018, 203-210. doi: 10.22060/miscj.2018.13961.5087
Safi, M., Mortazavi, M., Dibaji, S. (2018). 'Global Stabilization of Attitude Dynamics: SDRE-based Control Designs', AUT Journal of Modeling and Simulation, 50(2), pp. 203-210. doi: 10.22060/miscj.2018.13961.5087
Safi, M., Mortazavi, M., Dibaji, S. Global Stabilization of Attitude Dynamics: SDRE-based Control Designs. AUT Journal of Modeling and Simulation, 2018; 50(2): 203-210. doi: 10.22060/miscj.2018.13961.5087

Global Stabilization of Attitude Dynamics: SDRE-based Control Designs

Article 22, Volume 50, Issue 2, Summer and Autumn 2018, Page 203-210  XML PDF (591.36 K)
Document Type: Review Article
DOI: 10.22060/miscj.2018.13961.5087
Authors
M. Safi1; M. Mortazavi email orcid 2; S.M. Dibaji3
1Hardware In the Loop Laboratory, Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran
2Centre of Excellence in Computational Aerospace, Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran
33 Active-Adaptive Control Lab, Massachusetts Institute of Technology, Cambridge, MA, USA
Abstract
The State-Dependant Riccati Equation method has been frequently used to design suboptimal controllers applied to nonlinear dynamic systems. Different methods for local stability analysis of SDRE controlled systems of order higher than two such as the attitude dynamics of a general rigid body have been developed in the literature; however, it is still difficult to show global stability properties of closed-loop system with this controller. In this paper, a reduced-form of SDRE formulation for attitude dynamics of a general rigid body is achieved by using Input-State Linearization technique and solved analytically. By using the solution matrix of the reduced-form SDRE in properly defined Lyapunov functions, a class of nonlinear controllers with global stability properties is developed. Numerical simulations are performed to study the stability properties and optimality for attitude stabilization of a general rigid body, and it is concluded that the designed controllers have the capability to provide a balance between optimality and proper stability characteristics.
Keywords
SDRE; Lyapunov; Exponential Stability; Global Stability; Attitude Dynamics
Main Subjects
Applications of Control-Aerospace (Navigation/Conductance); Applications of Control-Robotics (Manipulator); Classical Nonlinear System Control; Optimal Control
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