Related papers: Constrained Geometric Attitude Control on SO(3)
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent…