Almost global stabilization of fully-actuated rigid bodies

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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.




Cabecinhas, D., Cunha, R., & Silvestre, C. (2009). Almost global stabilization of fully-actuated rigid bodies. Systems and Control Letters, 58(9), 639–645.

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