Controller Class for Rigid Body Tracking on SO(3)

Adeel Akhtar; Steven L. Waslander

doi:10.1109/TAC.2020.3008295

Controller Class for Rigid Body Tracking on SO(3)

Adeel Akhtar, Steven L. Waslander

Research output: Contribution to journal › Article › peer-review

23 Scopus citations

Abstract

In this article, we propose a novel family of Lie algebra valued functions mathcal {F}-R on special orthogonal group{SO}(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family mathcal {F}-R form a controller class mathcal {C}-R. This novel controller class mathcal{C}-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class mathcal {C}-R.

Original language	English (US)
Article number	9137655
Pages (from-to)	2234-2241
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	66
Issue number	5
DOIs	https://doi.org/10.1109/TAC.2020.3008295
State	Published - May 2021
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Keywords

Attitude control
control theory
coordinate free control
fully actuated system
geometric control

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10.1109/TAC.2020.3008295

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abstract = "In this article, we propose a novel family of Lie algebra valued functions mathcal {F}-R on special orthogonal group{SO}(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family mathcal {F}-R form a controller class mathcal {C}-R. This novel controller class mathcal{C}-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class mathcal {C}-R.",

keywords = "Attitude control, control theory, coordinate free control, fully actuated system, geometric control",

author = "Adeel Akhtar and Waslander, {Steven L.}",

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AB - In this article, we propose a novel family of Lie algebra valued functions mathcal {F}-R on special orthogonal group{SO}(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family mathcal {F}-R form a controller class mathcal {C}-R. This novel controller class mathcal{C}-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class mathcal {C}-R.

KW - Attitude control

KW - control theory

KW - coordinate free control

KW - fully actuated system

KW - geometric control

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JF - IEEE Transactions on Automatic Control

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ER -

Controller Class for Rigid Body Tracking on SO(3)

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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