Almost global stabilization of fully-actuated rigid bodies

DOI10.1016/J.SYSCONLE.2009.04.007MaRDI QIDQ963722zbMATH OpenOpenAlexWikidataFDO

Authors David Cabecinhas, Rita Cunha, Carlos Silvestre

Publication date 13 April 2010

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

Full work available at URL https://doi.org/10.1016/j.sysconle.2009.04.007

zbMATH Keywords

stabilitynonlinear systemssaturated controlrigid body stabilization

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20)

Recommendations

• A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information
• Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
• Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body
• Asymptotic stabilization of the position of a rigid body with fixed point without velocity measurements
• Almost global attitude stabilization of a rigid body for both internal and external actuation schemes

Cites work

• scientific article; zbMATH DE number 4133575 (Why is no real title available?)
• scientific article; zbMATH DE number 2129143 (Why is no real title available?)
• scientific article; zbMATH DE number 1077335 (Why is no real title available?)
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
• Almost global stabilization of the inverted pendulum via continuous state feedback
• An Almost Global Notion of Input-to-State Stability
• Global stabilization for systems evolving on manifolds
• Nonlinear systems. Analysis, stability, and control
• Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
• Tracking for fully actuated mechanical systems: A geometric framework

Cited in

(13)

• Almost global practical exponential stabilisation of a floating rigid body
• Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body
• A nonlinear position and attitude observer on SE(3) using landmark measurements
• Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints
• Stabilisation of a relative equilibrium of an underactuated AUV on \(\mathbf{SE}(3)\)
• Almost global attitude stabilization of a rigid body for both internal and external actuation schemes
• Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
• Global connective stability of a class of robotic manipulators
• Stabilization via fully actuated system approach: a case study
• Comments on ``Global stabilization of rigid formations in the plane
• Vision-based control for rigid body stabilization
• A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information
• Global stabilisation of underactuated mechanical systems via PID passivity-based control

This page was built for publication: Almost global stabilization of fully-actuated rigid bodies

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q963722)