イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2023/09
形態種別	学術雑誌
査読	査読あり
標題	Explicit Reference Governor on SO(3) for Torque and Pointing Constraint Management
執筆形態	共著(筆頭者以外)
掲載誌名	Automatica
掲載区分	国外
出版社・発行元	The International Federation of Automatic Control (IFAC)
巻・号・頁	155
総ページ数	11
国際共著	国際共著
著者・共著者	Satoshi Nakano, Tam W. Nguyen, Emanuele Garone, Tatsuya Ibuki, Mitsuji Sampei
概要	This paper focuses on the constrained attitude control of a rigid body. We propose an Explicit Reference Governor (ERG) specifically designed to handle constraints on SO(3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of a rigid body to the desired attitude reference while enforcing constraints at all times. To this end, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Next, the proposed control scheme is augmented with a novel ERG scheme able to add constraint-handling capabilities to the overall architecture. All the proposed solutions are defined in terms of SO(3) and do not make use of any parametrization such as quaternions or Euler angles.