H∞ Inverse Optimal Attitude Tracking on the Special Orthogonal Group SO(3)
Abstract
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and L2 disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear H∞ control problem by minimizing a meaningful cost function. The approach guarantees that the energy gain from an exogenous disturbance to a specified error signal respects a given upper bound. For numerical simulations, a simple problem setup from literature is considered and results demonstrate competitive performance.
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