10.5281/zenodo.5535870
https://zenodo.org/records/5535870
oai:zenodo.org:5535870
Koutras Leonidas
Koutras Leonidas
0000-0002-3521-6958
Aristotle University of Thessaloniki
Doulgeri Zoe
Doulgeri Zoe
0000-0003-2188-9358
Aristotle University of Thessaloniki
Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions
Zenodo
2021
2021-09-30
eng
10.5281/zenodo.5535869
https://zenodo.org/communities/bacchus_project
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
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.
European Commission
10.13039/501100000780
871704
MoBile Robotic PlAtforms for ACtive InspeCtion and Harvesting in AgricUltural AreaS