论文标题
通过离散时间IDA-PBC稳定基于QUATERNION的态度
Quaternion-based attitude stabilization via discrete-time IDA-PBC
论文作者
论文摘要
在本文中，我们提出了一个新的采样数据控制器，以稳定态度动力学，以期所需的恒定配置。该设计基于离散时间互连和阻尼分配（IDA）基于被动性控制（PBC）以及最近提出的离散时间非线性动力学的哈密顿表示。提供了近似解决方案，并提供了说明性能的模拟。
In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.
