Periodic Event-Triggered Explicit Reference Governor for Constrained Attitude Control on SO(3)

2026-04-05

AI Summary

This work addresses the challenges of input saturation and geometric pointing constraints in rigid-body attitude control on the SO(3) manifold by proposing a periodic event-triggered explicit reference governor (PET-ERG). The approach eliminates the need for online optimization by periodically updating an auxiliary reference signal, thereby rigorously enforcing both input and pointing constraints while avoiding Euler angle singularities. To the best of the authors’ knowledge, this is the first integration of a periodic event-triggered mechanism with an explicit reference governor for constrained attitude control on SO(3). The framework supports stability analysis directly on the Lie group manifold, achieving almost global asymptotic stability and exponential convergence. Numerical simulations demonstrate strict satisfaction of constraints alongside strong control performance.

Technology Category

• Intelligent Robots: State Estimation
• Constraint Satisfaction and Optimization: Satisfiability Modulo Theories
• Knowledge Representation and Reasoning: Geometric, Spatial, and Temporal Reasoning

Application Category

• Search and Retrieval-Augmented AI: Agentic search
• Responsible Web: Social and technical mechanisms of refusal for web technologies and applications
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

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.

Problem

• constrained attitude control
• SO(3)
• input saturation
• geometric pointing constraints
• singularity avoidance

Innovation

• Periodic Event-Triggered Control
• Explicit Reference Governor
• SO(3)
• Constrained Attitude Control
• Geometric Control