Almost global stabilization of fully-actuated rigid bodies
DOI10.1016/J.SYSCONLE.2009.04.007zbMATH Open1184.93105OpenAlexW2012165335WikidataQ59297750 ScholiaQ59297750MaRDI QIDQ963722FDOQ963722
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
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Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20)
Cites Work
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- A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
- An Almost Global Notion of Input-to-State Stability
- Tracking for fully actuated mechanical systems: A geometric framework
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- Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
- Global stabilization for systems evolving on manifolds
Cited In (13)
- 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
- Stabilisation of a relative equilibrium of an underactuated AUV on \(\mathbf{SE}(3)\)
- Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints
- 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
- Almost global practical exponential stabilisation of a floating rigid body
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