Incremental Reference Generation for Nonsingular Control on SE (3)
(2018) 2nd IEEE Conference on Control Technology and Applications, CCTA 2018 p.132-137- Abstract
Rotational singularities inherent to three different geometric controllers on SE (3) are studied. A new singularity-free method of incrementally generating a reference rotation is proposed, removing a class of singularities without affecting proven stability properties of the closed-loop systems. If satisfying a bound on attitude rate and maximum loop rate in the reference generation, the proposed synthesis of a controlled rotation enables complex manoeuvres on the entirety of SE (3), demonstrated with high-velocity loops on a toroid surface.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/b5982e99-cd51-4ae5-9a86-ce81b89df539
- author
- Greiff, Marcus LU and Robertsson, Anders LU
- organization
- publishing date
- 2018-10-29
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
- article number
- 8511419
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2nd IEEE Conference on Control Technology and Applications, CCTA 2018
- conference location
- Copenhagen, Denmark
- conference dates
- 2018-08-21 - 2018-08-24
- external identifiers
-
- scopus:85056873994
- ISBN
- 9781538676981
- DOI
- 10.1109/CCTA.2018.8511419
- language
- English
- LU publication?
- yes
- id
- b5982e99-cd51-4ae5-9a86-ce81b89df539
- date added to LUP
- 2018-11-29 13:38:37
- date last changed
- 2022-05-03 08:19:35
@inproceedings{b5982e99-cd51-4ae5-9a86-ce81b89df539, abstract = {{<p>Rotational singularities inherent to three different geometric controllers on SE (3) are studied. A new singularity-free method of incrementally generating a reference rotation is proposed, removing a class of singularities without affecting proven stability properties of the closed-loop systems. If satisfying a bound on attitude rate and maximum loop rate in the reference generation, the proposed synthesis of a controlled rotation enables complex manoeuvres on the entirety of SE (3), demonstrated with high-velocity loops on a toroid surface.</p>}}, author = {{Greiff, Marcus and Robertsson, Anders}}, booktitle = {{2018 IEEE Conference on Control Technology and Applications, CCTA 2018}}, isbn = {{9781538676981}}, language = {{eng}}, month = {{10}}, pages = {{132--137}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Incremental Reference Generation for Nonsingular Control on SE (3)}}, url = {{http://dx.doi.org/10.1109/CCTA.2018.8511419}}, doi = {{10.1109/CCTA.2018.8511419}}, year = {{2018}}, }