Related papers: Generalized Homogeneous Rigid-BodyAttitude Control
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
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…
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…
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…
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
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…
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 work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotics applications, we consider fully-actuated systems evolving…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
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…
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…
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear…
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,…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…