Position tracking for underactuated rigid bodies on SE(3)

摘要

The problem of tracking a desired trajectory is of fundamental importance in real applications where some system is required to follow a pre-planned or prespecified trajectory. For underactuated systems this problem is not always solvable since the desired trajectory may not belong to the set of feasible trajectories for the given system. However real life applications often only require tracking of some of the variables, the most common example being a unicycle type robot following a preassigned 2D path. In this paper we study the problem of position tracking for underactuated rigid bodies on SE(3).