相关论文: A Central Synergistic Hybrid Approach for Global E…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
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…
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…
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…
Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…
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…
We propose a systematic and comprehensive procedure for the construction of synergistic potential functions, which are instrumental in hybrid control design on SO(3). A new map via angular warping on SO(3) is introduced for the construction…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
This paper is about the construction of a family of centrally synergistic potential functions from a single modified trace function on SO(3). First, we demonstrate that it is possible to complete the construction through angular warping…
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…
This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
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…
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…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
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…
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…