This article investigates the problem of unwinding in quaternion-based antiwindup compensation for constrained rigid body attitude control. Quaternion-based compensators and controllers can lead to the unwinding phenomenon if the double covering problem of the rigid-body-attitude space is not considered. Moreover, actuator saturation is a source of performance degradation or even instability of control systems. Therefore, in this article, a quaternion-based antiwindup compensator is proposed and stability proofs are derived that provide asymptotic stability properties and a propensity to avoid attitude unwinding. Simulation results illustrate that the proposed method leads to significantly smaller rotation of the rigid body than an earlier antiwindup approach that does not address the unwinding phenomenon.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Managing Unwinding in Quaternion-Based Antiwindup Compensation for Constrained Rigid Body Attitude Control


    Beteiligte:


    Erscheinungsdatum :

    01.08.2025


    Format / Umfang :

    1393053 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Attitude Regulation of a Rigid Body Using Unit Quaternion

    Zongxi, Z. / Fangxiang, W. / Cheng, G. | British Library Online Contents | 2002


    Discretized Quaternion Constrained Attitude Pathfinding

    Kjellberg, Henri C | Online Contents | 2015