cont_attitude_FSF_SO3_robust.c File Reference

#include "cont_attitude_FSF_SO3_robust.h"

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Functions
int	update_attitude_FSF_SO3_robust (ref_state_qw_t *reference, dyn_state_qw_t *state, con_state_qw_fsf_t *controller)
	Update using the robust full state feedback (FSF) on SO(3) More...

Function Documentation

update_attitude_FSF_SO3_robust()

int update_attitude_FSF_SO3_robust	(	ref_state_qw_t *	reference,
		dyn_state_qw_t *	state,
		con_state_qw_fsf_t *	controller
	)

Update using the robust full state feedback (FSF) on SO(3)

This function takes the states of the reference dynamics in "reference" structure, as well as the current states of the system in the "state" structure, and the controller settings/memory in the "controller" structure, and updates the torque fields in the controller, as well as the various distances based on this information. The update is done using the robust feedback law defined with distances on SO(3).

Parameters

[in]	reference	- State of the reference dynamics
[in]	state	- State of the system dynamics
[in,out]	controller	- State of the controller, updated by the call

Returns

status - 1 if successful, 0 otherwise

Definition at line 10 of file cont_attitude_FSF_SO3_robust.c.