文章基本信息

标题：Port-Hamiltonian Formulation of Rigid-Body Attitude Control
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作者：Paolo Forni ; Dimitri Jeltsema ; Gabriel A.D. Lopes 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：13
页码：164-169
DOI：10.1016/j.ifacol.2015.10.233
语种：English
出版社：Elsevier
摘要：AbstractThe aim of this paper is to present a port-Hamiltonian (pH) formulation of the rigidbody attitude control problem, therefore enhancing the set of available tools for its modeling and control. First, a pH formulation of both dynamics and kinematics equations is presented. Second, a standard energy-balancing passivity-based controller (EB-PBC) is used for set-point tracking. Third, the controlled system is endowed with a dynamical extension to achieve set-point tracking without measuring the angular velocities. As a conclusive remark, it is showed under specific assumptions that these three results can be achieved regardless the coordinate representation in use. Additional examples follow to motivate the adoption of the pH formulation.
关键词：KeywordsAttitude controlport-Hamiltonian systemsnonlinear control systems