Controller Class for Rigid Body Tracking on SO(3)

Adeel Akhtar, Steven L. Waslander

Research output: Contribution to journalArticlepeer-review

19 Scopus citations


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.
Original languageEnglish (US)
Pages (from-to)2234-2241
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - May 1 2021
Externally publishedYes

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Generated from Scopus record by KAUST IRTS on 2023-10-11


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