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A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark‐based information
Author(s) -
Casau Pedro,
Sanfelice Ricardo G.,
Cunha Rita,
Silvestre Carlos
Publication year - 2015
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3283
Subject(s) - trajectory , control theory (sociology) , landmark , position (finance) , tracking (education) , controller (irrigation) , function (biology) , computer science , exponential stability , control (management) , mathematics , artificial intelligence , nonlinear system , physics , psychology , pedagogy , finance , astronomy , evolutionary biology , quantum mechanics , agronomy , economics , biology
Summary 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 SE ( 3 ) × R 6 . 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 S O (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.