A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark‐based information |
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| Authors: | Pedro Casau Ricardo G Sanfelice Rita Cunha Carlos Silvestre |
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| Affiliation: | 1. Department of Electrical and Computer Engineering, Laboratory for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal;2. Department of Computer Engineering, University of California, Santa Cruz, CA 95064, USA;3. Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China |
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| Abstract: | In this paper, we address the problem of designing a control law based on sensor measurements that provides global asymptotic stabilization to a reference trajectory defined on the  . The proposed control law is a function of the angular velocity, of vector measurements characterizing the position of some given landmarks, and of their rate of change. We provide sufficient conditions for the existence of synergistic potential functions on SO(3) which are pivotal in the generation of a suitable hybrid control law. We also provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with a continuous feedback control law. Copyright © 2014 John Wiley & Sons, Ltd. |
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| Keywords: | aerospace applications hybrid control systems geometric control |
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