著者

畑山 誉 中村 文一

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.50, no.11, pp.811-820, 2014 (Released:2014-11-20)

参考文献数

15

被引用文献数

2

---

An attitude of a rigid body is defined on SO(3); the fact leads to problems on attitude control of a rigid body. We propose a new discontinuous control law for globally asymptotic stabilization of the attitude of the rigid body by minimum projection method. We prove that the system always has Carathéodory solutions under our control method. Moreover, we show an advantage of the proposed method over quaternion-based hybrid feedback.