Rigid-Body Attitude Control

By Nalin A. Chaturvedi, Amit K. Sanyal, N. Harris McClamroch. IEEE Control Systems, 2011

685 citations recorded by the source corpus.

Subfields: Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/b7d6c81f7bd010fffd93b92c4c20f00b5e36ae85

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In Computer Vision and Pattern Recognition

In Control and Systems Engineering

Citations in the corpus

Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers (2014, methodology): “The strategy adopted herein is to give up control of the full attitude once a propeller has failed, and instead control only a single direction of the attitude (or, the attitude to within one degree of freedom), often referred to as a reduced attitude [21], which can be described by a unit vector.”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, neutral): “Attitude control systems also have been developed directly on the special orthogonal group, SO(3) to avoid the singularities associated with Euler-angles and the ambiguity of quaternions [9], [10], [11].”
Globally exponentially stable cascade observers for attitude estimation (2012, background): “…singularities, unwinding phenomena, topological limitations for achieving global asymptotic stability, and slow convergence near unstable equilibrium points are common drawbacks of attitude estimation solutions, see Bhat and Bernstein (2000) and Chaturvedi, Sanyal, and McClamroch (2011).”
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers (2014, background): “As they are directly developed on the special Euclidean group, complexities, singularities, and ambiguities associated with minimal attitude representations or quaternions are completely avoided [31].”
Robust Adaptive Attitude Tracking on ${\rm SO}(3)$ With an Application to a Quadrotor UAV (2013, background): “More detailed discussions on almost-global stability properties of attitude control systems are available in [28].”