Quaternion-based H∞ kinematic attitude control subjected to input time-varying delays

  title={Quaternion-based H∞ kinematic attitude control subjected to input time-varying delays},
  author={J. V. C. Vilela and Luis Felipe da Cruz Figueredo and Jo{\~a}o Yoshiyuki Ishihara and Geovany de Ara{\'u}jo Borges},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
In this paper, a quaternion-based H∞ controller is proposed for the stabilization of rigid-body attitude kinematics subject to unknown time-varying delays. This work is motivated both by the applicability to practical scenarios where large measurement and communication delays are often time-varying and by the absence of results in the literature. The difficulties stem from the non-Euclidean manifold of unit quaternions and the nonlinearities inherent to the quaternion kinematics. They yield… CONTINUE READING


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