Abstract
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 language | English |
|---|---|
| Pages (from-to) | 114-122 |
| Number of pages | 9 |
| Journal | Automatica |
| Volume | 100 |
| DOIs | |
| State | Published - Feb 2019 |
Bibliographical note
Publisher Copyright:© 2018 Elsevier Ltd
Funding
This work is supported in part by the National Science Foundation ( CMMI-1538782 ) and the National Aeronautics and Space Administration ( 80NSSC17M0040 ). The material in this paper was partially presented at the 2017 American Control Conference, May 24–26, 2017, Seattle, WA, USA. This paper was recommended for publication in revised form by Associate Editor Ricardo Sanfelice under the direction of Editor Daniel Liberzon.
| Funders | Funder number |
|---|---|
| National Science Foundation Arctic Social Science Program | CMMI-1538782 |
| National Aeronautics and Space Administration | 80NSSC17M0040 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering