Pose tracking using a Lorentzian approximation to rigid-motion

DOI10.1093/IMAMCI/DNAF025MaRDI QIDQ6918152zbMATH OpenFDO

Authors James Biggs

Publication date 10 October 2025

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1093/IMAMCI/DNAF025

zbMATH Keywords

feedback controlLie groupsnonlinear controlpose tracking

Mathematics Subject Classification ID

Applications of Lie groups to the sciences; explicit representations (22E70) Feedback control (93B52) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)

Cites work

• Dynamical systems III. Mathematical aspects of classical and celestial mechanics. Transl. from the Russian by A. Iacob.
• Geometric mechanics. Part I: Dynamics and symmetry
• scientific article; zbMATH DE number 1300852 (Why is no real title available?)
• scientific article; zbMATH DE number 1005873 (Why is no real title available?)
• Kinematic control of rigid-motions in space-time
• Motion Planning on a Class of 6-D Lie Groups via a Covering Map
• Optimal control and geometry: integrable systems
• Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Stability and drift of underwater vehicle dynamics: mechanical systems with rigid motion symmetry
• Stability of a bottom-heavy underwater vehicle

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