Attitude Control of N-Dimensional Rigid Body with Angular Velocity Observer
2004
Abstract In this paper we attempt to give a complete solution to the attitude control problem of rigid body without angular velocity measurement. The problem to be solved is attitude tracking problem with the so-called reduction property in the sense that the proposed control law reduces to the one that achieves setpoint regulation when the desired trajectory is stationary. The eminent feature of the approach in this paper is that we do not use coordinate systems on SO(3) to describe the attitude of rigid body and consider generalized rigid body of dimension n. We also employ the Hamiltonian formulation for the rigid body dynamics to focus on energy dissipation. In this framework it is possible to design an observer for generalized rigid body and prove closed-loop stability, a separation principle, which has been conjectured but not yet been shown.
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