2016 ACC paper on constrained attitude control.
Work started at AFRL 2015 Space Scholars.
To regenerate the figures for publications
You need the matlab code located at: https://github.com/skulumani/2016_ACC_matlab
Configuration Error Function visualization:
run log_barrier.m to make the surface plots for the \Psi
Go to commit a4e97e069d475b1760d61db2d46c1157281afe1c to make sure the constants are setup properly
Attitude Stabilization without adaptive update law:
run coupled_control_driver.m and then run plot_outputs.m to generate the simulation plots used in both ACC/IJCAS submission
This is also using commit a4e97e069d475b1760d61db2d46c1157281afe1c
Attitude Stabilization with adaptive update law:
run coupled_control_driver.m and then run plot_outputs.m or draw_cad to generate the plots. There's a flag in load_constants to create animations or a video
Go to commit 6f5604a9db17ee67b019dac6daa1807e5ed3c6d5 to ensure the constants are setup properly
Constrained Attitude stabilization experiment:
Run Data_analysis.m to read 20150924_avoid3.txt to generate the experimental results
The repository holding the experimental data is located at https://github.com/skulumani/2016_ACC_Experiment
The commit is 6f5604a9db17ee67b019dac6daa1807e5ed3c6d5
This calls load_experiment_constants and plot_experiment_constants
Geometric Adaptive Control of Attitude Dynamics on SO(3) with State Inequality Constraints by Shankar Kulumani, Christopher Poole, and Taeyoung Lee is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Based on a work at http://fdcl.seas.gwu.edu.
Permissions beyond the scope of this license may be available at http://fdcl.seas.gwu.edu.