Paper Info
Title
Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions
Abstract
Trajectory tracking in the orientation space utilizing unit quaternions yields non linear error dynamics as opposed to Cartesian position. In this work, we study trajectory tracking in the orientation space utilizing the most popular quaternion error representations and angular velocity errors. By selecting error functions carefully we show exponential convergence in a region of attraction containing large initial errors. We further show that under certain conditions frequently encountered in practice, the formulation respecting the geometric characteristics of the quaternion manifold and its tangent space yields linear tracking dynamics allowing us to guarantee a desired tracking performance by gain selection without tuning. Simulation and experimental results are provided.
Year
DOI
Venue
2021
10.1109/IROS51168.2021.9636171
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
DocType
ISSN
Citations 
Conference
2153-0858
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Leonidas Koutras111.02
Zoe Doulgeri233247.11