SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields

TL;DR

This paper introduces geometric controllers for aligning 3D robot attitudes with non-constant 3D vector fields, providing detailed derivations for analysis and implementation.

Contribution

It presents novel geometric attitude controllers specifically designed for robots interacting with non-constant 3D vector fields.

Findings

Controllers effectively align robots with complex vector fields

Detailed derivations facilitate implementation and analysis

Enhances robotic control in dynamic environments

Abstract

This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all the calculations needed for the analysis and implementation of the controllers.