A landmark-based controller for global asymptotic stabilization on SE(3)

@article{Casau2012ALC,
  title={A landmark-based controller for global asymptotic stabilization on SE(3)},
  author={Pedro Casau and Ricardo G. Sanfelice and Rita Cunha and Carlos Silvestre},
  journal={2012 IEEE 51st IEEE Conference on Decision and Control (CDC)},
  year={2012},
  pages={496-501}
}
In this paper, we address the problem of designing a landmark-based control law that robustly globally asymptotically stabilizes a rigid body at a desired equilibrium point on the SE(3) manifold. Synergistic potential functions are combined within a hybrid systems framework to generate such a hybrid control law. The proposed control law is solely a function of vector measurements characterizing the position of some given landmarks. We provide sufficient conditions on the geometry of the… CONTINUE READING

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