The motion control problem for a class of mechanical systems is addressed. The system configuration can be represented in terms of a set of generalized coordinates in R^n and l rotation matrices in the special orthogonal (SO)(3) group. A key point is the choice of a globally valid parameterization of SO(3) in lieu of the usual three parameter representations. To this end, the unit quaternionis adopted.A novel control lawis proposed that is based on a velocity observer to avoid velocity measurements. Exponential tracking of the commanded motion trajectory is proven via the Lyapunovdirectmethod. The proposed controller–observer scheme is first applied in a simulation case study to the attitude control of a rigid spacecraft. Then, the problemof position and orientation control of the end effector of a robot manipulator is considered. For the latter case, experimental results are provided to show the potential of the approach in tackling practical problems.

Output feedback control of mechanical systems with application to spacecraft and robots

CACCAVALE, Fabrizio;
2003

Abstract

The motion control problem for a class of mechanical systems is addressed. The system configuration can be represented in terms of a set of generalized coordinates in R^n and l rotation matrices in the special orthogonal (SO)(3) group. A key point is the choice of a globally valid parameterization of SO(3) in lieu of the usual three parameter representations. To this end, the unit quaternionis adopted.A novel control lawis proposed that is based on a velocity observer to avoid velocity measurements. Exponential tracking of the commanded motion trajectory is proven via the Lyapunovdirectmethod. The proposed controller–observer scheme is first applied in a simulation case study to the attitude control of a rigid spacecraft. Then, the problemof position and orientation control of the end effector of a robot manipulator is considered. For the latter case, experimental results are provided to show the potential of the approach in tackling practical problems.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11563/6567
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