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IBUKI TATSUYA
Department Undergraduate School , School of Science and Technology Position Associate Professor |
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| Language | English |
| Publication Date | 2023/09 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | Explicit Reference Governor on SO(3) for Torque and Pointing Constraint Management |
| Contribution Type | Co-authored (other than first author) |
| Journal | Automatica |
| Journal Type | Another Country |
| Publisher | The International Federation of Automatic Control (IFAC) |
| Volume, Issue, Page | 155 |
| Total page number | 11 |
| International coauthorship | International coauthorship |
| Author and coauthor | Satoshi Nakano, Tam W. Nguyen, Emanuele Garone, Tatsuya Ibuki, Mitsuji Sampei |
| Details | 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. |