Feedback Linearizing Controllers on SO(3) using a Global Parametrization

Adeel Akhtar, Sajid Saleem, Steven L. Waslander

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


We present a methodology for studying the stabilization problem of a fully-actuated rotating rigid body. Since a rigid body attitude is represented by a rotation matrix in three dimensions, we exploit this fact and use each element of the rotation matrix as a parameter. This nine-parameter representation is global as well as unique, and results in a simplified set of nonlinear differential equations. We apply feedback linearization to design both local and almost global controllers. We also propose two novel definitions of feedback linearization functions, and prove that they lead to a well-defined vector relative degree and, as a result, almost-globally and locally stable controllers with bounded internal states. Using the proposed methodology, we present detailed examples of two such functions, demonstrating stabilization performance for each resulting controller on a rigid body system.
Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781538682661
StatePublished - Jul 1 2020
Externally publishedYes

Bibliographical note

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


Dive into the research topics of 'Feedback Linearizing Controllers on SO(3) using a Global Parametrization'. Together they form a unique fingerprint.

Cite this