$H_{\infty}$ Inverse Optimal Attitude Tracking on the Special Orthogonal Group $SO(3)$

16 Jul 2021  ·  Farooq Aslam, M. Farooq Haydar ·

The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear $H_{\infty}$ control problem by minimizing a meaningful cost function... The approach guarantees that the energy gain from an exogenous disturbance to a specified error signal respects a given upper bound. For numerical simulations, a simple problem setup from literature is considered and results demonstrate competitive performance. read more

PDF Abstract
No code implementations yet. Submit your code now

Tasks


Datasets


  Add Datasets introduced or used in this paper

Results from the Paper


  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.

Methods


No methods listed for this paper. Add relevant methods here