Time-varying Quaternion Constrained Attitude Control Using Barrier Lyapunov Function

Vutukuri, S and Chakravarty, A and Padhi, R (2022) Time-varying Quaternion Constrained Attitude Control Using Barrier Lyapunov Function. In: 17th International Conference on Control, Automation, Robotics and Vision, ICARCV 2022, 11 - 13 December 2022, Singapore, pp. 367-372.

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Abstract

A novel, robust attitude controller for rigid bodies in the presence of time-varying orientation constraints is presented in this paper. Using an error transformation, the dynamic attitude constraints are converted into time-varying quaternion constraints. Subsequently, a robust attitude control law is synthesized using the backstepping philosophy in which barrier Lyapunov functions (BLFs) are used to achieve asymptotic tracking and simultaneously avoid attitude constraint violation. This is accomplished by ensuring the boundedness of BLFs in the closed-loop Lyapunov stability analysis. Besides the nominal scenario, an adaptive control law is also formulated to tackle moment of inertial uncertainties and an unknown, time-varying, bounded disturbance. In this case, the attitude tracking errors are uniformly ultimately bounded, whose bounds can be adjusted by user-defined constants. Note that in both scenarios, the dynamic attitude constraints are not transgressed. Finally, the effectiveness of the proposed controller is demonstrated by carrying out extensive numerical simulations in the presence of parametric uncertainties and disturbance torques. © 2022 IEEE.

Item Type:	Conference Paper
Publication:	2022 17th International Conference on Control, Automation, Robotics and Vision, ICARCV 2022
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Attitude control; Backstepping; Control theory; Controllers; Time varying control systems, Barrier lyapunov function; Constrained attitude controls; Constraint; Error transformation; Lyapunov stability analysis; Lyapunov's functions; Orientation constraint; Rigid body; Robust attitude controller; Time varying, Lyapunov functions
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	16 Feb 2023 06:09
Last Modified:	16 Feb 2023 06:09
URI:	https://eprints.iisc.ac.in/id/eprint/80347

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