Orientation control on SO(3) with piecewise sinusoids

Shaoqian Wang; Jesse B. Hoagg; T. Michael Seigler

doi:10.1016/j.automatica.2018.11.007

Orientation control on SO(3) with piecewise sinusoids

Producción científica: Article › revisión exhaustiva

18 Citas (Scopus)

Resumen

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.

Idioma original	English
Páginas (desde-hasta)	114-122
Número de páginas	9
Publicación	Automatica
Volumen	100
DOI	https://doi.org/10.1016/j.automatica.2018.11.007
Estado	Published - feb 2019

Nota bibliográfica

Publisher Copyright:
© 2018 Elsevier Ltd

Financiación

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.

Financiadores	Número del financiador
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

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10.1016/j.automatica.2018.11.007

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title = "Orientation control on SO(3) with piecewise sinusoids",

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.",

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AU - Hoagg, Jesse B.

AU - Seigler, T. Michael

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AB - 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.

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UR - https://www.scopus.com/pages/publications/85056806087#tab=citedBy

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JO - Automatica

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Orientation control on SO(3) with piecewise sinusoids

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