Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation

DOI10.1016/j.jfranklin.2018.06.043zbMath1398.93292OpenAlexW2888327624MaRDI QIDQ1797169

Yushu Yu, Xilun Ding

Publication date: 18 October 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2018.06.043

zbMATH Keywords

stabilityaerial manipulatorstrajectory linearization control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Linearizations (93B18) Control of mechanical systems (70Q05)

Related Items (4)

Constrained control for systems on matrix Lie groups with uncertainties ⋮ A novel adaptive three stages model predictive control based on fuzzy systems: application in MIMO controlling of MED-TVC process ⋮ A hierarchical control scheme for multiple aerial vehicle transportation systems with uncertainties and state/input constraints ⋮ A framework to design interaction control of aerial slung load systems: transfer from existing flight control of under-actuated aerial vehicles

Cites Work

• Attitude tracking control of a quadrotor UAV in the exponential coordinates
• Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Rigid-Body Attitude Control
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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