Abstract

This paper addresses the output regulation problem of rigid bodies whose kinematic configuration space lies on the Special Euclidean Group SE(3). Reference trajectories to be tracked are generated by an autonomous system, referred to as exosystem, defined on the Special Euclidean Group as well. Only partial relative pose measurements associated to the “natural” linear left group action on SE(3) along with the pose and the velocity of the controlled body are available. The proposed control action embeds a copy of the exosystem kinematics properly updated by means of relative information error in the same spirit of internal model principle.

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