Morse-lyapunov-based control of rigid body motion on TSE(3) via backstepping

Morad Nazari, Mohammad Maadani, Eric A. Butcher, Tansel Yucelen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations


In this paper, a rigid body controller is designed on the tangent bundle TSE(3) of the Lie group SE(3) using the backstepping technique. The controller is capable of treating the rotational and translational motions of the rigid body simultaneously. The system states considered in the control design are rotational and translational displacements and velocities of the body. As a result, the states of the system are composed of the 4×4 configuration tensor of the body and its six-dimensional augmented velocity vector. In addition, the use of geometric mechanics in the control design results in almost global asymptotic stability of the resulting motion which is proved via a Morse-Lyapunov-based approach.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105265
StatePublished - Jan 1 2018
EventAIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States
Duration: Jan 8 2018Jan 12 2018

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2018


OtherAIAA Guidance, Navigation, and Control Conference, 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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