In this letter, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.
2022, IEEE CONTROL SYSTEMS LETTERS, Pages 2665-2670 (volume: 6)
Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC (01a Articolo in rivista)
Mattioni M., Moreschini A., Monaco S., Normand-Cyrot D.
Gruppo di ricerca: Nonlinear Systems and Control