A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

DOI10.1016/S0167-6911(99)00090-0zbMath0986.93063OpenAlexW2046287268MaRDI QIDQ5958830

Publication date: 3 March 2002

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(99)00090-0

zbMATH Keywords

global stability rotational motion attitude control unwinding

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (only showing first 100 items - show all)

Formation control for agents modeled with extended unicycle dynamics that includes orientation kinematics on \(\mathrm{SO} (m)\) and speed constraints ⋮ Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles ⋮ Leader-following attitude consensus of multiple rigid body systems by attitude feedback control ⋮ Robust global bimodal rest-to-rest attitude control of rigid body using unit quaternion ⋮ Global attitude estimation using single delayed vector measurement and biased gyro ⋮ Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control ⋮ Multilayer Minimum Projection Method with Singular Point Assignment for Nonsmooth Control Lyapunov Function Design ⋮ Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3) ⋮ Exponential convergence of a nonlinear attitude estimator ⋮ Global finite-time attitude consensus of leader-following spacecraft systems based on distributed observers ⋮ Dual-quaternion-based adaptive motion tracking of spacecraft with reduced control effort ⋮ Velocity-free attitude stabilization with inertial vector measurements ⋮ Spacecraft relative rotation tracking without angular velocity measurements ⋮ Finite-time and attitude tracking of a rigid body ⋮ Global finite-time attitude tracking via quaternion feedback ⋮ Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates ⋮ On Wilson's theorem about domains of attraction and tubular neighborhoods ⋮ High-dimensional Kuramoto models on Stiefel manifolds synchronize complex networks almost globally ⋮ Spacecraft Anti‐Unwinding Attitude Control Using Second‐Order Sliding Mode ⋮ A geodesic feedback law to decouple the full and reduced attitude ⋮ Global finite-time distributed attitude synchronization and tracking control of multiple rigid bodies without velocity measurements ⋮ Constructive observer design for visual simultaneous localisation and mapping ⋮ Finite-time stable estimator for attitude motion in the presence of bias in angular velocity measurements ⋮ Multilayer minimum projection method for nonsmooth strict control Lyapunov function design ⋮ Hybrid global exponential stabilization on \(SO(3)\) ⋮ Étale backstepping for control Lyapunov function design on manifold ⋮ Adaptive trajectory tracking controller for quadrotor systems subject to parametric uncertainties ⋮ Intrinsic reduced attitude formation with ring inter-agent graph ⋮ Attitude estimation for intervention-AUVs working in tandem with autonomous surface craft ⋮ Attitude tracking control of a quadrotor UAV in the exponential coordinates ⋮ Almost global attitude stabilization of a rigid body for both internal and external actuation schemes ⋮ Nonlinear hierarchical control for quad-rotors with rotation matrix ⋮ Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group ⋮ Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults ⋮ Exponential attitude tracking and disturbance rejection of rigid body systems ⋮ Robust global trajectory tracking for a class of underactuated vehicles ⋮ Second-order sliding-mode on SO(3) and fault-tolerant spacecraft attitude control ⋮ Finite-time angular velocity observers for rigid-body attitude tracking with bounded inputs ⋮ A GES attitude observer with single vector observations ⋮ Asymptotic stabilization of passive systems without damping injection: a sampled integral technique ⋮ Coordinated path following for unicycles: a nested invariant sets approach ⋮ Stability analysis of velocity-aided attitude observers for accelerated vehicles ⋮ Exact solutions to a class of feedback systems on \(\mathsf{SO}(n)\) ⋮ Mean square bounded attitude coordination control of spacecraft formation with stochastic uncertainties ⋮ Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following ⋮ Quaternion-based attitude synchronisation for multiple rigid bodies in the presence of actuator saturation ⋮ Consensus on SO(3) with piecewise-continuous sinusoids ⋮ Global attitude and gyro bias estimation based on set-valued observers ⋮ Matched disturbance suppression for nonlinear systems stabilizable by logic-based feedback ⋮ Hybrid attitude tracking of rigid bodies without angular velocity measurement ⋮ Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers ⋮ Switching control laws in the presence of measurement noise ⋮ Coordinated trajectory tracking of multiple vertical take-off and landing uavs ⋮ Contraction theory on Riemannian manifolds ⋮ Simplex sliding mode control for autonomous six‐DOF vehicles with mono‐directional actuators: Robustness, stability, and implementation issues ⋮ On the topological structure of attraction basins for differential inclusions ⋮ Point stabilization and trajectory tracking of underactuated surface vessels: a geometric control approach ⋮ An intrinsic PID controller for mechanical systems on Lie groups ⋮ Orientation control on SO(3) with piecewise sinusoids ⋮ Robust formation control in \(\mathbb{SE}(3)\) for tree-graph structures with prescribed transient and steady state performance ⋮ MPC on manifolds with an application to the control of spacecraft attitude on SO(3) ⋮ Global set stabilization of the spacecraft attitude control problem based on quaternion ⋮ Line-of-sight based spacecraft attitude and position tracking control ⋮ On the application of the Ważewski method to the problem of global stabilization ⋮ Stochastic stabilization of rigid body motion of a spacecraft on SE(3) ⋮ Output regulation for systems on matrix Lie-groups ⋮ Intrinsic tetrahedron formation of reduced attitude ⋮ On topological obstructions to global stabilization of an inverted pendulum ⋮ Output-feedback control for stabilization on \(\mathrm{SE}(3)\) ⋮ Hovering control for quadrotor aircraft based on finite-time control algorithm ⋮ Retraction obstruction to time-varying stabilization ⋮ Almost global stabilization of fully-actuated rigid bodies ⋮ Vision-based control for rigid body stabilization ⋮ Adaptive set stabilization of the attitude of a rigid spacecraft without angular velocity measurements ⋮ Topological properties of asymptotically stable sets ⋮ A nonlinear position and attitude observer on SE(3) using landmark measurements ⋮ Robust global exponential stabilization on the \(n\)-dimensional sphere with applications to trajectory tracking for quadrotors ⋮ A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information ⋮ Tightly coupled long baseline/ultra-short baseline integrated navigation system ⋮ An intrinsic approach to formation control of regular polyhedra for reduced attitudes ⋮ Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation ⋮ A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach ⋮ Globally exponentially stable attitude observer with Earth velocity estimation ⋮ Finite time stable attitude estimation of rigid bodies with unknown dynamics ⋮ Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive Control ⋮ Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices ⋮ Global set stabilisation of the spacecraft attitude using finite-time control technique ⋮ Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization ⋮ Almost global attitude stabilisation of an underactuated axially symmetric 3-D pendulum ⋮ A new geometric trajectory tracking controller for the unicycle mobile robot ⋮ Formation Tracking of Nonholonomic Systems on the Special Euclidean Group under Fixed and Switching Topologies: An Affine Formation Strategy ⋮ Coordinate independent adaptive attitude tracking control design for spacecraft robust to time-varying system uncertainties ⋮ Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration ⋮ Output feedback control for rigid-body attitude with constant disturbances ⋮ Continuous adaptive-gain finite-time control for rigid body attitude dynamics on SO(3) ⋮ Vector‐Based Adaptive Attitude Observer and Controller on Special Orthogonal Group ⋮ Robust global distributed attitude control for multiple rigid bodies using a hybrid controller ⋮ Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies ⋮ Hybrid kinematic control for rigid body pose stabilization using dual quaternions ⋮ H _∞ inverse optimal attitude tracking on the special orthogonal group SO (3)

Cites Work

This page was built for publication: A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon