Steering on SO(3) with sinusoidal inputs

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3 Scopus citations


This paper presents steering control strategies for kinematic system = RΩ on SO(3) for the case that input Ω is restricted to a class of sinusoidal functions. This restriction is motivated by the problem of rigid-body orientation control using vibrating internal-momentum actuators. A main result of this paper is a new closed-form solution of the kinematic system on SO(3). The solution is used to establish controllability of the kinematic system with the sinusoidal input restriction. We then present a feedback controller that globally asymptotically stabilizes the identity, and a feedback tracking controller that yields bounded error.

Original languageEnglish
Title of host publication2017 American Control Conference, ACC 2017
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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