Quaternion-based Hybrid Feedback for Global Asymptotic Attitude Stabilization on S<sup>3</sup>

Hashemi, Seyed Hamed; Pariz, Naser; Sani, Seyed Kamal Hosseini

doi:10.1109/iccia52082.2021.9403607

Cited by 4 publications

(2 citation statements)

References 21 publications

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“…The following equation describes the framework for hybrid dynamical systems H used throughout this paper [15]:…”

Section: B Hybrid System Frameworkmentioning

confidence: 99%

Task Space Control of Robot Manipulators based on Visual SLAM

Hashemi¹,

Mattila²

2023

Preprint

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This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the gradient of a potential function in SE(3). The key idea is to employ the Visual Simultaneous Localization and Mapping (VSLAM) algorithm to estimate a robot pose. The estimated robot pose is then used in the proposed hybrid controller as feedback information. Invoking Barbalat's lemma and Lyapunov's stability theorem, it is guaranteed that the resulting closed-loop system is globally asymptotically stable, which is the main accomplishment of the proposed structure. Simulation studies are conducted on a six degrees of freedom (6-DOF) robot manipulator to demonstrate the effectiveness and validate the performance of the proposed VSLAM-based control scheme.

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“…The following equation describes the framework for hybrid dynamical systems H used throughout this paper [15]:…”

Section: B Hybrid System Frameworkmentioning

confidence: 99%

Task Space Control of Robot Manipulators based on Visual SLAM

Hashemi¹,

Mattila²

2023

Preprint

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“…Accordingly, the equations of motions for the quadrotor can be describe as follows (Samadikhoshkho et al, 2020;Hashemi et al, 2021):…”

Section: Aerial Manipulation Systemmentioning

confidence: 99%

Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation

Jalali

Janabi–Sharifi

2022

Front. Robot. AI

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Traditional aerial manipulation systems were usually composed of rigid-link manipulators attached to an aerial platform, arising several rigidity-related issues such as difficulties of reach, compliant motion, adaptability to object’s shape and pose uncertainties, and safety of human-manipulator interactions, especially in unstructured and confined environments. To address these issues, partially compliant manipulators, composed of rigid links and compliant/flexible joints, were proposed; however, they still suffer from insufficient dexterity and maneuverability. In this article, a new set of compliant aerial manipulators is suggested. For this purpose, the concept of aerial continuum manipulation system (ACMS) is introduced, several conceptual configurations are proposed, and the functionalities of ACMSs for different applications are discussed. Then, the performances of proposed aerial manipulators are compared with conventional aerial manipulators by implementing available benchmarks in the literature. To enhance the comparison, new features with related benchmarks are presented and used for evaluation purposes. In this study, the advantages of ACMSs over their rigid-link counterparts are illustrated and the potential applications of ACMSs are suggested. The open problems such as those related to dynamic coupling and control of ACMSs are also highlighted.

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Robust Global stabilization of aerial continuum manipulation systems via hybrid feedback

2023

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Quaternion-based Hybrid Feedback for Global Asymptotic Attitude Stabilization on S³

Cited by 4 publications

References 21 publications

Task Space Control of Robot Manipulators based on Visual SLAM

Task Space Control of Robot Manipulators based on Visual SLAM

Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation

Robust Global stabilization of aerial continuum manipulation systems via hybrid feedback

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Quaternion-based Hybrid Feedback for Global Asymptotic Attitude Stabilization on S3

Cited by 4 publications

References 21 publications

Task Space Control of Robot Manipulators based on Visual SLAM

Task Space Control of Robot Manipulators based on Visual SLAM

Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation

Robust Global stabilization of aerial continuum manipulation systems via hybrid feedback

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Product

Resources

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Quaternion-based Hybrid Feedback for Global Asymptotic Attitude Stabilization on S³