Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions
Leonidas Koutras,Zoe Doulgeri,Leonidas Koutras,Zoe Doulgeri
Trajectory tracking in the orientation space utilizing unit quaternions yields non linear error dynamics as opposed to Cartesian position. In this work, we study trajectory tracking in the orientation space utilizing the most popular quaternion error representations and angular velocity errors. By selecting error functions carefully we show exponential convergence in a region of attraction contain...
