Related papers: Special Orthogonal Group SO(3), Euler Angles, Angl…
3D frame fields are auxiliary for hexahedral mesh generation. There mainly exist three ways to represent 3D frames: combination of rotations, spherical harmonics and fourth order tensor. We propose here a representation carried out by the…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
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…
We consider the classical three-body problem with an arbitrary pair potential which depends on the inter-body distance. A general three-body configuration is set by three "radial" and three angular variables, which determine the shape and…
Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate…
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, ease of implementation, formulaic simplicity, and physical as…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
We characterize a set of positive maps in matrix algebra of 4x4 complex matrices. Equivalently, we provide a subset of entanglement witnesses parameterized by the rotation group SO(3). Interestingly, these maps/witnesses define two…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping…
This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global…
Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform these tasks, and the choice of rotation representation is an…
The ``$D$'' matrices for all states of the two fundamental representations and octet are shown in the generalized Euler angle parameterization. The raising and lowering operators are given in terms of linear combinations of the left…