Journal ArticleDOI
A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
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In this article, it was shown that a continuous dynamical system on a state space that has the structure of a vector bundle on a compact manifold possesses no globally asymptotically stable equilibrium.About:
This article is published in Systems & Control Letters.The article was published on 2000-01-28. It has received 790 citations till now. The article focuses on the topics: Dynamical systems theory & Local coordinates.read more
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BookDOI
Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
Proceedings ArticleDOI
Geometric tracking control of a quadrotor UAV on SE(3)
TL;DR: New results for the tracking control of a quadrotor unmanned aerial vehicle (UAV) are provided and a nonlinear tracking controller is developed on the special Euclidean group SE(3), shown to have desirable closed loop properties that are almost global.
Posted Content
Geometric Tracking Control of a Quadrotor UAV on SE(3)
TL;DR: In this article, a nonlinear tracking controller is developed on the special Euclidean group for each flight mode, and the closed loop is shown to have desirable closed loop properties that are almost global in each case.
Journal ArticleDOI
Rigid-Body Attitude Control
TL;DR: In this paper, orthogonal matrices are used to represent attitude in rigid-body rotational motion and to characterize attitude control systems for arbitrary attitude maneuvers without using attitude parameterizations.
Journal ArticleDOI
Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
TL;DR: This work proposes a quaternion-based hybrid feedback scheme that solves the global attitude tracking problem in three scenarios: full state measurements, only measurements of attitude, and measurements of attitudes with angular velocity measurements corrupted by a constant bias.
References
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Book
Mathematical Methods of Classical Mechanics
TL;DR: In this paper, Newtonian mechanics: experimental facts investigation of the equations of motion, variational principles Lagrangian mechanics on manifolds oscillations rigid bodies, differential forms symplectic manifolds canonical formalism introduction to pertubation theory.
Book
Modern geometry--methods and applications
TL;DR: The first € price and the £ and $ price are net prices, subject to local VAT as mentioned in this paper, and the first £ price is net price subject to £ and £ price.
Journal ArticleDOI
The attitude control problem
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.