Interpolation and Tracking of Rigid Body Orientations

被引：0
|
作者：
Park, Jonghoon [1 ]
机构：
[1] SimLab Co Ltd, Seoul, South Korea
来源：
INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年
关键词：
orientation; interpolation; tracking; Lie group; differential of exponentials; ATTITUDE-CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method of interpolating and tracking rigid body motions in terms of its exponential coordinates is developed based on the differential of exponentials. The analytic closed-form expressions are provided for differential of exponential on SO(3) as well as its time-derivative. Complete methods for interpolating and tracking in terms of exponential coordinates of SO(3) are developed. In particular, interpolation is made with the boundary conditions including acceleration level. Reference acceleration is designed on SO(3) for linearized closed-loop dynamics in exponential coordinates.
引用
收藏
页码：668 / 673
页数：6
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