针对刚体姿态控制，提出一种无需在线优化的周期事件触发控制器。
Periodic Event-Triggered Explicit Reference Governor for Constrained Attitude Control on SO(3)
- 基于周期性事件触发机制更新参考输入，避免持续计算。
- 闭环系统对几乎所有初始状态均实现渐近稳定与指数收敛。
- 适合需约束满足且低通信负载的航天器姿态控制场景。
本文研究刚体在特殊正交群SO(3)上的受限姿态控制问题，避免了欧拉角等参数化方法带来的奇异性。提出一种新型周期事件触发显式参考调节器（PET-ERG），在不依赖在线优化的前提下，实现输入饱和和几何指向约束的强制满足。其核心是周期性事件触发的监督更新：仅在采样时刻且满足鲁棒安全条件时才更新辅助参考信号，从而避免连续时间参考更新，并支持流形上级联系统的严格稳定性分析。通过该结构化方法，我们严格证明了闭环系统对几乎所有初始配置均具有渐近稳定性和指数收敛性。数值仿真验证了所提控制架构的有效性，展示了约束满足与收敛特性。
原文摘要 · Abstract (English)
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.
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