Abstract:Tracking a desired Pointing Direction and simultaneously obtaining a reference Angular Velocity (PDAV) around the pointing direction constitutes a very involved and complicated motion encountered in a variaty of robotic, industrial and military applications. In this paper through the utilization of global analysis and simulation techniques, the smooth closed-loop vector fields induced by the geometric PDAV controller from [1], are visualized to gain a deeper understanding of its global stabilization properties… Show more
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