This preprint is under consideration at Nonlinear Dynamics. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
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Research Article
Naser Pariz
Ferdowsi University of Mashhad
Corresponding Author
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This paper studies the global stabilization of a rigid body attitude, a task that is subject to topological obstacles. These
obstructions preclude the existence of a globally stable equilibrium point. Consequently, the rigid body attitude cannot
be globally stabilized by continuous feedback control laws. In order to resolve this challenge, this paper presents an
observer-based hybrid feedback control law. Thereafter, in order to derive the proposed feedback law, a new kind of
synergistic potential functions is presented which induces a gradient vector eld to globally stabilize a given set. Moreover, the gradient of the proposed synergistic potential functions is utilized to derive a hybrid angular velocity
observer. The outputs of the proposed observer are employed to produce the necessary damping from the noisy measurements of the attitude. Furthermore, this paper considers two types of constraints: angular velocity constraints, and input torque constraints. Afterward, these constraints are formulated in terms of the Linear Matrix Inequalities (LMI) optimization problem to perform constraints satisfaction at all times. Moreover, this paper introduces a novel hybrid quantizer to deal with the problem of the low-price wireless network. This paper analyzes the global asymptotic stability of the reference set via the Lyapunov's method. Finally, a comparative study in simulations is provided to assess the performance of the proposed control technique.
Keywords
Hybrid systems, Linear Matrix Inequalities (LMI), Hybrid quantizer, Observers, Synergistic potential functions
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CURRENT STATUS: Under Review
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Posted 17 Mar, 2021
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Received 08 Mar, 2021
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Electrical Engineering
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This preprint is under consideration at Nonlinear Dynamics. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Research Article
Naser Pariz
Ferdowsi University of Mashhad
Corresponding Author
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 17 Mar, 2021
No community comments so far
Review #? received
Received 08 Mar, 2021
Reviewers invited
Invitations sent on 08 Mar, 2021
Editor assigned
On 07 Mar, 2021
First submitted
On 06 Mar, 2021
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Electrical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
This paper studies the global stabilization of a rigid body attitude, a task that is subject to topological obstacles. These
obstructions preclude the existence of a globally stable equilibrium point. Consequently, the rigid body attitude cannot
be globally stabilized by continuous feedback control laws. In order to resolve this challenge, this paper presents an
observer-based hybrid feedback control law. Thereafter, in order to derive the proposed feedback law, a new kind of
synergistic potential functions is presented which induces a gradient vector eld to globally stabilize a given set. Moreover, the gradient of the proposed synergistic potential functions is utilized to derive a hybrid angular velocity
observer. The outputs of the proposed observer are employed to produce the necessary damping from the noisy measurements of the attitude. Furthermore, this paper considers two types of constraints: angular velocity constraints, and input torque constraints. Afterward, these constraints are formulated in terms of the Linear Matrix Inequalities (LMI) optimization problem to perform constraints satisfaction at all times. Moreover, this paper introduces a novel hybrid quantizer to deal with the problem of the low-price wireless network. This paper analyzes the global asymptotic stability of the reference set via the Lyapunov's method. Finally, a comparative study in simulations is provided to assess the performance of the proposed control technique.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
This preprint is available for download as a PDF.
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