Orientation control on SO(3) with piecewise sinusoids

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16 Scopus citations


This paper addresses rigid-body orientation control for the case that angular velocity is restricted to a class of piecewise sinusoidal signals. The orientation kinematics are represented by the group of rotation matrices SO(3). We present a new closed-form solution of the rotation-matrix kinematics, and we use this solution to prove controllability. We then present kinematic-level orientation-feedback controllers for setpoint tracking and command following.

Original languageEnglish
Pages (from-to)114-122
Number of pages9
StatePublished - Feb 2019

Bibliographical note

Publisher Copyright:
© 2018 Elsevier Ltd

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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