Almost global stabilization of fully-actuated rigid bodies

@article{Cabecinhas2009AlmostGS,
  title={Almost global stabilization of fully-actuated rigid bodies},
  author={David Cabecinhas and Rita Cunha and Carlos Silvestre},
  journal={Systems & Control Letters},
  year={2009},
  volume={58},
  pages={639-645}
}
This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated by considering the natural configuration space for rigid bodies, the Special Euclidean group SE(3). The proposed solution consists of a landmark-based controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is asymptotically stable and only a nowhere dense set of measure zero lies outside its… CONTINUE READING
BETA

Similar Papers

Topics from this paper.

Citations

Publications citing this paper.
SHOWING 1-9 OF 9 CITATIONS

Robust global asymptotic stabilization of a 6-DOF rigid body by quaternion-based hybrid feedback

  • Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
  • 2009
VIEW 1 EXCERPT
CITES METHODS