Periodic Event-Triggered Explicit Reference Governor for Constrained Attitude Control on SO(3)
This work addresses attitude control for rigid bodies in aerospace or robotics, avoiding singularities and enabling constraint satisfaction without continuous updates, though it is incremental as it builds on existing reference governor methods.
The paper tackles the constrained attitude control problem for rigid bodies on SO(3) by proposing a Periodic Event-Triggered Explicit Reference Governor (PET-ERG), which enforces input saturation and geometric pointing constraints without online optimization, achieving asymptotic stability and exponential convergence for almost all initial configurations as validated in simulations.
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler angles. We propose a novel Periodic Event-Triggered Explicit Reference Governor (PET-ERG) that enforces input saturation and geometric pointing constraints without relying on online optimization. A key feature is a periodic event-triggered supervisory update: the auxiliary reference is updated only at sampled instants when a robust safety condition is met, thereby avoiding continuous-time reference updates and enabling a rigorous stability analysis of the cascade system on the manifold. Through this structured approach, we rigorously establish the asymptotic stability and exponential convergence of the closed-loop system for almost all initial configurations. Numerical simulations validate the effectiveness of the proposed control architecture and demonstrate constraint satisfaction and convergence properties.