Resumen de Orientation control on SO(3) with piecewise sinusoids
Shaoqian Wang, Jesse B. Hoagg, T. Michael Seigler
This paper addresses rigid-body orientation control for the case that angular velocity is restricted to a class of piecewise sinusoidal signals. The orientation kinematics are represented by the group of rotation matrices SO(3). We present a new closed-form solution of the rotation-matrix kinematics, and we use this solution to prove controllability. We then present kinematic-level orientation-feedback controllers for setpoint tracking and command following.
