Related papers: Global Exponential Attitude Tracking Controls on S…
In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by Sn. This hybrid controller is induced by a synergistic collection of potential functions on Sn. We…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…