Quaternion regression and finite-time controllers for attitude dynamics

dc.contributor.advisorAkella, Maruthi Ram, 1972-
dc.contributor.committeeMemberHumphreys, Todd E.
dc.contributor.committeeMemberZanetti, Renato
dc.contributor.committeeMemberD'Souza, Christopher
dc.contributor.committeeMemberColtin, Brian
dc.creatorMendes De Almeida Neto, Marcelino
dc.date.accessioned2020-03-25T18:55:10Z
dc.date.available2020-03-25T18:55:10Z
dc.date.created2019-12
dc.date.issued2019-12
dc.date.submittedDecember 2019
dc.date.updated2020-03-25T18:55:11Z
dc.description.abstractThis dissertation presents two major research contributions to the field of attitude dynamics and control. The first topic comprises of estimating the angular velocity of a rigid body purely with orientation measurements expressed in terms of the quaternion parameterization. At first, the object of interest is assumed to be in pure-spin, and a simple two-step algorithm is derived and analyzed as part of this dissertation. These results are further extended for the general case of angular velocity estimation by way of relaxing the pure-spin restriction. The proposed angular velocity estimator is particularly useful in the context of vision-based navigation, as demonstrated through simulations. The second major research contribution from this dissertation is represented through a pair of new Lyapunov-based controllers that steer a fully actuated rigid body attitude system from an arbitrary initial configuration to any desired one within prescribed finite-time. The stability and convergence properties owing to these two controllers are analyzed through Lyapunov analysis and extensive numerical simulation studies. Finite-time attitude controllers, as opposed to asymptotic controllers, can be particularly useful in satellites that need to repeatedly reorient themselves with hard-deadline constraints
dc.description.departmentAerospace Engineering
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/2152/80415
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/7431
dc.language.isoen
dc.subjectQuaternion
dc.subjectAttitude control
dc.subjectAttitude estimation
dc.subjectSlam
dc.subjectQuaternion regression
dc.subjectFinite time control
dc.titleQuaternion regression and finite-time controllers for attitude dynamics
dc.typeThesis
dc.type.materialtext
thesis.degree.departmentAerospace Engineering
thesis.degree.disciplineAerospace Engineering
thesis.degree.grantorThe University of Texas at Austin
thesis.degree.levelDoctoral
thesis.degree.nameDoctor of Philosophy

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