A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information

@inproceedings{Casau2015AGA,
  title={A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information},
  author={Pedro Casau and Ricardo G. Sanfelice and Rita Cunha and Carlos Silvestre},
  year={2015}
}
In this paper, we address the problem of designing a control law based on sensor measurements that provides global asymptotic stabilization to a reference trajectory defined on the SE(3) × R. The proposed control law is a function of the angular velocity, of vector measurements characterizing the position of some given landmarks and of their rate of change. We provide sufficient conditions for the existence of synergistic potential functions on SO(3) which are pivotal in the generation of a… CONTINUE READING
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