We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the inherent gyroscopic stability associated with a spinning axis-symmetric rigid body. The equations of motion are derived in two frames: a non-spinning frame to show the gyroscopic stability, and a body-fixed spinning frame for deriving the controller. The proposed controller is designed such that it retains the gyroscopic stability structure in the closed loop and renders the desired equilibrium almost-globally asymptotically stable. Due to the time-critical nature of the control input, in particular its sensitivity with respect to delays/neglected dynamics, the controller is extended to incorporate the effect of actuator dynamics for practical implementation. Thereafter, a comparison in performance is shown between the proposed controller and a conventional reduced attitude geometric controller with numerical simulation. The controller is validated experimentally on a spinning tricopter.
In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges (singularities) introduced by common dynamical approximations. To formulate and solve our specialized trajectory optimization problem, we design a locally stabilizing Linear Quadratic (LQ) regulator on the system's configuration manifold then lift it into the ambient state space to produce suitable terminal and running LQ cost functionals. Finally, we examine t…
Recent successes in the deployment of sails in space have reduced the risk associated with solar sailing missions. The attitude control requirements for a solar sailing mission is low with only slow attitude maneuvers needed to maintain a stable attitude and produce a required solar thrust. Future science missions will require large attitude maneuvers with a fully deployed sail. This article investigates the current options for attitude control on solar sails and proposes a gyro-controlled solar sailing. This concept uses a spinning solar sail to construct a control moment gyroscope capable to…
A General Nonlinear Observer Design for Inertial Navigation Systems with Almost Global Stability Guarantees
Capgemini Engineering（凯捷工程）；University of Quebec in Outaouais（渥太华大学）；I3S-UniCA-CNRS, University Cote d’Azur（尼斯大学）；Institut Universitaire de France（法国高等研究院）
A Sliced Learning Framework for Online Disturbance Identification in Quadrotor SO(3) Attitude Control
Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan（国家先进工业科学与技术研究院智能系统研究所，日本）；Graduate School of Systems and Information Engineering, University of Tsukuba, Japan（茨大大学系统与信息工程研究生院，日本）
Western University（韦仕敦大学）；Lakehead University（湖首大学）
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on $SO(3)$ from achieving global stability. The key idea consists in constructing a suitable potential function on $SO(3)\times \mathbb{R}$ involving an auxiliary scalar variable, with flow and jump dynamics, which keeps the state away from the undesired critical points while, at the same time, guarantees a decrease of the potential function over the flows and jumps…
Dual-quaternion learning control for autonomous vehicle trajectory tracking with safety guarantees
Universidad Politécnica de Madrid（西班牙马德里理工大学）；School of Science and Technology, IE University（IE大学科学与技术学院）；Universidad de San Andrés (UdeSA) and CONICET（阿根廷圣安德烈斯大学（UdeSA）和CONICET）；Centre for Automation and Robotics (CSIC-UPM)（自动化与机器人中心（CSIC-UPM））
