Adaptive Backstepping Attitude Control of a Rigid Body with State Quantization
Chapter, Peer reviewed
Accepted version
Permanent lenke
https://hdl.handle.net/11250/3068976Utgivelsesdato
2021Metadata
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Originalversjon
Schlanbusch, S. M., Zhou, J. & Schlanbusch, R. (2021). Adaptive backstepping attitude control of a rigid body with state quantization. In Proceedings of the 60th IEEE Conference on Decision and Control (pp. 372–377). https://doi.org/10.1109/CDC45484.2021.9683579Sammendrag
In this paper, the attitude tracking control problem of a rigid body is investigated where the states are quantized. An adaptive backstepping based control scheme is developed and a new approach to stability analysis is developed by constructing a new compensation scheme for the effects of the vector state quantization. It is shown that all closed-loop signals are ensured uniformly bounded and the tracking errors converge to a compact set containing the origin. Experiments on a 2 degrees-of-freedom helicopter system illustrate the proposed control scheme.