Almost global stabilization of fully-actuated rigid bodies

  • Cabecinhas D
  • Cunha R
  • Silvestre C
  • 5


    Mendeley users who have this article in their library.
  • 10


    Citations of this article.


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 region of attraction. The controller uses velocity measurements and the position coordinates of a collection of landmarks fixed in the environment. As an additional feature, the control law is designed so as to verify prescribed bounds on the actuation. © 2009 Elsevier B.V. All rights reserved.

Author-supplied keywords

  • Nonlinear systems
  • Rigid body stabilization
  • Saturated control
  • Stability

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • David Cabecinhas

  • Rita Cunha

  • Carlos Silvestre

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free