报告题目：FeedbackExplicit Finite-Time Results for Spacecraft Attitude Tracking Control
时间：2018年10月16日(周二)上午9:30至11:30
地点：北航新主楼E座706会议室
报告人：Prof. Maruthi R. Akella, E.P. Schoch EndowedProfessor of Engineering
The University ofTexas at Austin.
报告内容：
This seminar introduces a new class offinite-time feedback controllers for rigid-body attitude dynamics subject tofull actuation. The control structure is Lyapunov-based and is designed toregulate the configuration from an arbitrary initial state to any prescribedfinal state within user-specified finite transfer-time. A salient feature hereis that the synthesis of the control structure is explicit, i.e., given thetransfer-time, the feedback-gains are explicitly stated to satisfy theconvergence specifications. A major contrast between this work and others inthe literature is that instead of resorting to feedback-linearization (to getto the so-called normal form), our approach efficiently marries the process ofdesigning time-varying feedback gains with the logarithmic Lyapunov functionfor attitude kinematics based on the Modified Rodrigues Parametersrepresentation. Saliently, this new finite-time solution extends nicely foraccommodating trajectory tracking objectives and possesses robustness with respectto bounded external disturbance torques. Numerical simulations are performed totest and validate the performance and robustness features of the new controldesigns.
Maruthi R.Akella isa tenured full professor with the Department of Aerospace Engineering andEngineering Mechanics at The University of Texas at Austin (UT Austin) where heholds the E.P. Schoch Endowed Professorship in Engineering. He received hisM.E. degree in Aerospace Engineering from the Indian Institute of Science(1994), and his Ph.D. in Aerospace Engineering in 1998 from Texas A&MUniversity. Prior to joining the UT Austin faculty, he was a postdoctoralfellow with the Yale University Center for Systems Science. Dr. Akella’sresearch program encompasses control theoretic investigations of nonlinear andcoordinated systems, vision-based sensing for state estimation, and developmentof integrated human and autonomous multivehicle systems. He is the faculty leadfor the Control, Autonomy, and Robotics area at UT Austin and he directs theControls Lab for Distributed and Uncertain Systems. His research contributionshave found several highly successful applications in astrodynamics, in thecontrol of space systems, and vision-guided robotics. He published more than150 research papers in peer-reviewed archival journals and professionalconferences. For his far-reaching contributions to the field of attitudeestimation and control, Dr. Akella received several prestigious awardsincluding the Mechanics and Control of Flight Award from the American Instituteof Aeronautics and Astronautics (AIAA) and the Judith A. Resnik Space Award bythe IEEE Aerospace and Electronic Systems Society. He currently serves asTechnical Editor for IEEE Transactions on Aerospace and Electronic Systems (TAES),and as Associate Editor for the Journal of Guidance, Control, and Dynamics(JGCD), and the Journal of the Astronautical Sciences (JAS). He is the Chairfor the Space Flight Mechanics Technical Committee of the AmericanAstronautical Society (AAS). Dr. Akella is a Fellow of the AAS, an AssociateFellow of the AIAA, and holds the title of IEEE Distinguished Lecturer.
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