UM  > 科技學院  > 電機及電腦工程系
A landmark-based controller for global asymptotic stabilization on SE(3)
Casau P.2; Sanfelice R.G.3; Cunha R.2; Silvestre C.1
2012-12-01
Conference Name51st IEEE Annual Conference on Decision and Control (CDC)
Source PublicationProceedings of the IEEE Conference on Decision and Control
Pages496-501
Conference DateDEC 10-13, 2012
Conference PlaceMaui, HI
CountryUSA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

In this paper, we address the problem of designing a landmark-based control law that robustly globally asymptotically stabilizes a rigid body at a desired equilibrium point on the SE(3) manifold. Synergistic potential functions are combined within a hybrid systems framework to generate such a hybrid control law. The proposed control law is solely a function of vector measurements characterizing the position of some given landmarks. We provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with an almost global continuous feedback control law. © 2012 IEEE.

DOI10.1109/CDC.2012.6426535
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000327200400082
Fulltext Access
Citation statistics
Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
3.University of Arizona
Recommended Citation
GB/T 7714
Casau P.,Sanfelice R.G.,Cunha R.,et al. A landmark-based controller for global asymptotic stabilization on SE(3)[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2012:496-501.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Casau P.]'s Articles
[Sanfelice R.G.]'s Articles
[Cunha R.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Casau P.]'s Articles
[Sanfelice R.G.]'s Articles
[Cunha R.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Casau P.]'s Articles
[Sanfelice R.G.]'s Articles
[Cunha R.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.