P. TSIOTRAS, "Further passivity results for the attitude control problem," IEEE Transactions on Automatic Control, Vol. 43, No. 11, 1998, pp. 1597--1600.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....a passivity approach was used to develop an asymptotically stabilizing setpoint controller that eliminated velocity measurements via the ltering of the unit quaternion. The passivity based, velocity free setpoint controller of [11] was later applied to the simpler, three parameter problem in [17]. Recently in Wong et al. 19] an adaptive attitude tracking controller without angular velocity measurements was proposed using the modied Rodrigues parameters. In this paper, we provide an adaptive control solution to the quaternion based, attitude tracking control problem that eliminates ....

P. Tsiotras, Further Passivity Results for the Attitude Control Problem, IEEE Trans. Auto. Cont., Vol. 43, No. 11, Nov. 1998, pp. 1597-1600.

....ith robot with respect to one or more of its neighbors. The difficultly of this approach is the requirement that the ith neighbor would need to know the velocity of some of its neighbors. The other approach is to apply damping injection via the Passivity Based Control (PBC) approach [30] 31] [32]. This would only require that the ith robot have position information of it s neighbors. This is the approach followed here. It is of interest to note that we could have used a PBC to damp out the quantity z i . However, for the robot application, which requires velocity information to perform ....

Panagiotis Tsiotras, "Further passivity results for the attitude control problem," IEEE Transaction On Automatic Control, vol. 43, no. 11, pp. 1597--1600, 1998.

....motion of the ith robot but it does not damp out the inter robot oscillations. Relative motion between the ith robot and its neighbors may be oscillatory despite smooth transitions to the goal. To reduce these oscillations, we apply damping injection via the Passivity Based Control (PBC) approach [9, 10, 11]. It is of interest to note that we could have used a PBC to damp out the quantity z i . However, for the robot application, which requires velocity information to perform the feedback linearization, it is wise to use the velocity information since it is available. Theorem 3.3 Given the ....

P. Tsiotras, "Further passivity results for the attitude control problem," IEEE Transaction On Automatic Control, vol. 43, no. 11, pp. 1597--1600, 1998.

....rigid spacecraft problem. Moreover, the robustness question is still open; see Ref. 45] for some early results on this topic. An equally important problem to actuator failure that has not been addressed in satisfactory detail is that of sensor failure. The only exceptions seem to be Refs. [6, 71] and [72] The first two references solve the stabilization problem without any angular velocity information (say due to a rate gyro failure) Reference [72] addresses the problem of attitude tracking using only attitude information. Cases of combined rate gyro attitude sensor failure do no seem ....

P. TSIOTRAS, "Further passivity results for the attitude control problem," IEEE Transactions on Automatic Control, Vol. 43, No. 11, 1998, pp. 1597--1600.

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P. Tsiotras. Further passivity results for the attitude control problem. IEEE Transactions on Automatic Control, 43(11):1597--1600, 1998. 21

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P. Tsiotras, \Further passivity results for the attitude control problem," IEEE Transactions on Automatic Control, vol. 43, no. 11, pp. 1597-1600,

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