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A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information
Casau P.3; Sanfelice R.G.2; Cunha R.3; Silvestre C.1
2015-12-01
Source PublicationInternational Journal of Robust and Nonlinear Control
ISSN10991239 10498923
Volume25Issue:18Pages:3617-3640
Abstract

Summary In this paper, we address the problem of designing a control law based on sensor measurements that provides global asymptotic stabilization to a reference trajectory defined on the SE(3)×R6. The proposed control law is a function of the angular velocity, of vector measurements characterizing the position of some given landmarks, and of their rate of change. We provide sufficient conditions for the existence of synergistic potential functions on SO(3) which are pivotal in the generation of a suitable hybrid control law. We also provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with a continuous feedback control law.

KeywordAerospace Applications Geometric Control Hybrid Control Systems
DOI10.1002/rnc.3283
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000366723600006
PublisherWILEY-BLACKWELL, 111 RIVER ST, HOBOKEN 07030-5774, NJ USA
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.University of California System
3.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Casau P.,Sanfelice R.G.,Cunha R.,et al. A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information[J]. International Journal of Robust and Nonlinear Control,2015,25(18):3617-3640.
APA Casau P.,Sanfelice R.G.,Cunha R.,&Silvestre C..(2015).A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information.International Journal of Robust and Nonlinear Control,25(18),3617-3640.
MLA Casau P.,et al."A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information".International Journal of Robust and Nonlinear Control 25.18(2015):3617-3640.
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