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タイトル
和文: 
英文:Attitude Constrained Control on SO(3): An Explicit Reference Governor Approach 
著者
和文: 仲野 聡史, Tam W. Nguyen, Emanuele Garone, 伊吹 竜也, 三平 満司.  
英文: Satoshi Nakano, Tam W. Nguyen, Emanuele Garone, Tatsuya Ibuki, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of 2018 CDC 
巻, 号, ページ         pp. 1833-1838
出版年月 2018年12月17日 
出版者
和文: 
英文:IEEE 
会議名称
和文: 
英文:2018 IEEE Conference on Decision and Control 
開催地
和文: 
英文:Miami Beach 
アブストラクト This paper focuses on the attitude constrained control of a rigid body in three dimensions, and proposes the Explicit Reference Governor (ERG) as a solution 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 the rigid to the desired attitude reference while enforcing constraints satisfaction at all times. To do so, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Then, the proposed control scheme is augmented with a suitably designed ERG to add constraint-handling capabilities to the scheme.All the proposed solutions are defined in terms of elements on SO(3) and do not make use of any parameterizations such as e.g., quaternions and Euler angles. Finally, numerical simulations are carried out to show the effectiveness of the proposed control scheme.

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