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Incremental Reference Generation for Nonsingular Control on SE (3)

Greiff, Marcus LU and Robertsson, Anders LU (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:
author
and
organization
publishing date
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}},
}