Abstract: The problem of rigid-body attitude tracking is examined for the case that there exist actuator faults and angular velocity constraints during the attitude maneuver. With a hyperbolic tangent ...

Abstract: This article investigates the prescribed performance control problem associated with attitude stabilization of a rigid body, considering angular velocity constraint, actuator faults, and ...

This repository contains a C++ library of rigid-body dynamics algorithms that are compatible with kinematic loops and especially efficient for those induced by common actuation sub-mechanisms like ...

Trees (and chains) of kinematic equations are used in robotics, computer graphics, and animation. In robotics forward kinematics refers to the use of kinematic equations to compute the position of an ...