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Title
Japanese:Explicit Reference Governor を用いた拘束付き剛体姿勢制御 
English:Constrained Rigid Body Attitude Control via Explicit Reference Governor 
Author
Japanese: 仲野 聡史, Tam W. Nguyen, Emanuel Garone, 伊吹 竜也, 三平 満司.  
English: Satoshi Nakano, Tam W. Nguyen, Emanuel Garone, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第61回自動制御連合講演会論文集 
English: 
Volume, Number, Page         pp. 1098/1103
Published date Nov. 17, 2018 
Publisher
Japanese: 
English: 
Conference name
Japanese:第61回自動制御連合講演会 
English: 
Conference site
Japanese:名古屋 
English: 
DOI https://doi.org/10.11511/jacc.61.0_1098
Abstract This paper investigates the attitude constrained control of a rigid body via Explicit Reference Governor (ERG)on the special orthogonal matrix group SO(3). The goal of this paper is to design a control scheme which is able to steer the attitude of the rigid body to the desired attitude reference while enforcing geometric conic pointing constraints, at all times. The first step is to design a stabilizing controller when constraints are neglected. Then, the proposed control scheme is augmented with an ERG to add constraint-handling capabilities to the pre-stabilized system. Finally, numerical simulations are conducted to show the effectiveness of the proposed control scheme.

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