Arbitrary time attitude stabilization and tracking of rigid body on SO(3)

Abstract

The paper deals with the exploitation of free-will arbitrary time control for the attitude stabilization and tracking of a rigid body evolving on SO(3). A predefined settling time, independent of any system parameter and initial condition, is set, and the attitude error function converges to zero within this predefined time using the proposed controller. Stability analysis is done using Lyapunov based approach. The control design is made robust to bounded external disturbances through the utility of continuous integral sliding mode control. The efficacy of the proposed controller is demonstrated through simulations. © 2021 IEEE.