Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method

Abstract

In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.