On the Choice of Coordinates for Control Problems on SO
نویسنده
چکیده
Many alternative coordinate choices exist for the description of the rotational motion of a rigid body Not all the choices are equivalent with respect to their domain of validity for accurate attitude representation or the ease they o er in the control design process In this paper we present two choices of coordinates which seem to be appropriate for two important control problems the stabilization of a rigid body with re duced control actuation and stabilization with limited sensor information Both coordinate sets have the common charac teristic of introducing a passive map from the angular veloci ties to the attitude coordinates
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تاریخ انتشار 2004