TY - JOUR
T1 - Controller Class for Rigid Body Tracking on SO(3)
AU - Akhtar, Adeel
AU - Waslander, Steven L.
N1 - Generated from Scopus record by KAUST IRTS on 2023-10-11
PY - 2021/5/1
Y1 - 2021/5/1
N2 - In this article, we propose a novel family of Lie algebra valued functions mathcal {F}-R on special orthogonal group{SO}(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family mathcal {F}-R form a controller class mathcal {C}-R. This novel controller class mathcal{C}-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class mathcal {C}-R.
AB - In this article, we propose a novel family of Lie algebra valued functions mathcal {F}-R on special orthogonal group{SO}(3). Each function belonging to this family induces a novel controller that stabilizes a rigid body attitude. All controllers induced by the family mathcal {F}-R form a controller class mathcal {C}-R. This novel controller class mathcal{C}-R contains both local and almost-global asymptotically stable controllers, and this article presents geometric stability results of the whole controller class mathcal {C}-R.
UR - https://ieeexplore.ieee.org/document/9137655/
UR - http://www.scopus.com/inward/record.url?scp=85104898523&partnerID=8YFLogxK
U2 - 10.1109/TAC.2020.3008295
DO - 10.1109/TAC.2020.3008295
M3 - Article
SN - 1558-2523
VL - 66
SP - 2234
EP - 2241
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 5
ER -