eprintid: 4015
rev_number: 8
eprint_status: archive
userid: 87
dir: disk0/00/00/40/15
datestamp: 2018-03-12 09:23:35
lastmod: 2018-03-12 09:23:35
status_changed: 2018-03-12 09:23:35
type: conference_item
metadata_visibility: show
creators_name: Gros, Sebastien
creators_name: Zanon, Mario
creators_name: Diehl, Moritz
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
title: Baumgarte stabilisation over the SO(3) rotation group for control
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
abstract: Representations of the SO(3) rotation group are crucial for airborne and aerospace applications. Euler angles is a popular representation in many applications, but yield models having singular dynamics. This issue is addressed via non-singular representations, operating in dimensions higher than 3. Unit quaternions and the Direction Cosine Matrix are the best known non-singular representations, and favoured in challenging aeronautic and aerospace applications. All nonsingular representations yield invariants in the model dynamics, i.e. a set of nonlinear algebraic conditions that must be fulfilled by the model initial conditions, and that remain fulfilled over time. However, due to numerical integration errors, these conditions tend to become violated when using standard integrators, making the model inconsistent with the physical reality. This issue poses some challenges when non-singular representations are deployed in optimal control. In this paper, we propose a simple technique to address the issue for classical integration schemes, establish formally its properties, and illustrate it on the optimal control of a satellite.
date: 2015
date_type: published
publisher: IEEE
pagerange: 620-625
event_title: 54th Conference on Decision and Control
event_location: Osaka, Japan
event_dates: December 15-18, 2015
event_type: conference
id_number: doi:10.1109/CDC.2015.7402298
refereed: TRUE
isbn: 978-1-4799-7886-1
book_title: 54th IEEE Conference on Decision and Control (CDC)
official_url: http://doi.org/10.1109/CDC.2015.7402298
citation:   Gros, Sebastien and Zanon, Mario and Diehl, Moritz  Baumgarte stabilisation over the SO(3) rotation group for control.  In: 54th Conference on Decision and Control, December 15-18, 2015, Osaka, Japan pp. 620-625.  ISBN 978-1-4799-7886-1.      (2015)  
document_url: http://eprints.imtlucca.it/4015/1/07402298.pdf