Passivity Based Attitude Control of Rigid Bodies
Authors:
- Hanlei WangHWHanlei Wang
- Yongchun XieYXYongchun Xie
- 18 March 2013
- journal article
- research article
- Published by Wiley in Asian Journal of Control
- Vol. 16 (3) , 802-817
Abstract
In this paper, we present a tutorial on passivity based attitude control that has been investigated over the past two decades. Both regulation control and adaptive tracking control for the attitude motion of rigid bodies are discussed under a unified passivity framework. Our attention is mainly confined to the attitude control schemes that are based on the passivity notion. Output feedback attitude control, attitude synchronization, and some open problems are also discussed.Keywords
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