Almost global stabilization of fully-actuated rigid bodies

  • Cabecinhas D
  • Cunha R
  • Silvestre C
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Abstract

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

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Authors

  • David Cabecinhas

  • Rita Cunha

  • Carlos Silvestre

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