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 | |
| 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