Almost global stabilization of fully-actuated rigid bodies

DOI10.1016/j.sysconle.2009.04.007zbMath1184.93105OpenAlexW2012165335WikidataQ59297750 ScholiaQ59297750MaRDI QIDQ963722

Rita Cunha, David Cabecinhas, 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

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

Related Items (3)

A nonlinear position and attitude observer on SE(3) using landmark measurements ⋮ A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information ⋮ Stabilisation of a relative equilibrium of an underactuated AUV on SE(3)

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Global stabilization for systems evolving on manifolds
• Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
• Nonlinear systems. Analysis, stability, and control
• Tracking for fully actuated mechanical systems: A geometric framework
• An Almost Global Notion of Input-to-State Stability
• Almost global stabilization of the inverted pendulum via continuous state feedback
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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