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.

翻译：本文针对刚体在特殊正交群SO(3)上的受约束姿态控制问题展开研究，避免了欧拉角等参数化方法带来的奇异性。我们提出了一种新颖的周期性事件触发显式参考调节器（PET-ERG），无需依赖在线优化即可实现输入饱和约束与几何指向约束。该方法的核心特征在于周期性的事件触发监控更新机制：辅助参考信号仅在采样时刻满足鲁棒安全条件时进行更新，从而避免了连续时间参考更新，并实现了流形上级联系统的严格稳定性分析。通过这种结构化方法，我们严格证明了闭环系统在几乎所有初始构型下的渐近稳定性与指数收敛性。数值仿真验证了所提控制架构的有效性，并展示了约束满足与收敛特性。