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eess.SY2026
Robust Global Position and Heading Tracking on SE(3) via Saturated Hybrid Feedback
Luís Martins, Carlos Cardeira, Paulo Oliveira
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torqu…
eess.SY2023
Hybrid path-lifting algorithm and Equivalence of Stability results for MRP-based control strategies
Luís Martins, Carlos Cardeira, Paulo Oliveira
The modified Rodrigues parameters (MRP) consist of two numerically different triplets that, by switching between them, yield a minimal globally non-singular attitude description wi…