Pose stabilization control for actuator delayed rigid body dynamics on SE(3) with predicted feedback

• Published in: Journal of the Franklin Institute Vol. 361; no. 9; p. 106866
• Main Authors: Peng, Xiuhui, Zhou, Yijia, Sun, Zhiyong, Yuen, Ka-Veng
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.06.2024
• Subjects: Actuator delay; Predicted feedback; Rigid body dynamics; Special euclidean group SE; Special euclidean group SE; Rigid body dynamics; Predicted feedback; Actuator delay
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2024.106866

This article addresses the pose stabilization control problem for actuator delayed second-order rigid body system on SE(3) with predicted feedback. By investigating the invariance property of rigid body dynamics on the nonlinear manifold SE(3), the exact solution of the closed-loop second-order rigid body system on SE(3) is obtained. To our best knowledge, different from the exact solution of kinematic model on SE(3), it is the first time to obtain the exact solution of rigid body dynamics on SE(3). Thereafter, adopting the proposed exact solution form, the pose stabilization control law for rigid body dynamics with actuator delay is constructed from the predicted state, and the corresponding stability conditions are established. Finally, both numerical simulations and experiments are given to verify the effectiveness and feasibility of the proposed theoretical results.