Conference Paper

Output-feedback control for almost global stabilization of fully-actuated rigid bodies

Dept. of Electr. Eng. & Comput. Sci., Inst. Super. Tecnico, Lisboa, Portugal
DOI: 10.1109/CDC.2008.4738956 Conference: Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008, December 9-11, 2008, Cancún, México
Source: IEEE Xplore

ABSTRACT This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated considering the natural space for rigid body configurations, the Special Euclidean group SE(3). The proposed solution consists of an output-feedback controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is a stable attractor for all initial conditions except for those in a nowhere dense set of measure zero. As an additional feature, the controller is required to verify prescribed bounds on the actuation.

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