Incremental Reference Generation for Nonsingular Control on SE(3)

Marcus Carl Greiff1, Anders Robertsson2

  • 1Lund University
  • 2LTH, Lund University

Details

Category

Regular Session

Sessions

10:00 - 12:00 | Wed 22 Aug | Kronborg | WeA5

Aerospace

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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.

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