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Fundamentals of Kinematics, Dynamics

and Control of Space Robots

Space Robotics and Control Systems

Minor In Space Sciences & Technologies


Scientific Area of Systems, Decision, and Control

IST, January 13th 2022

April 2021 - NASA – Mars landscape, from a camera installed onboard robot Perseverance
Fundamentals of Kinematics
Rigid Body Kinematics – Linear Motion

• Linear motion: position evolves as a function of time


I
<latexit sha1_base64="g8/gl/ITIMdaXTBmih1h9kjxp8o=">AAACBXicbVDLTgIxFO3gC/E16lIXjcQEN2TGkOjGhOBGdpjII4Fh0ikFGjqPtHdIyISNG3/FjQuNces/uPNvLDALBU/S5PSce297jxcJrsCyvo3M2vrG5lZ2O7ezu7d/YB4eNVQYS8rqNBShbHlEMcEDVgcOgrUiyYjvCdb0RrczvzlmUvEweIBJxByfDALe55SAllzztFvt9EJIoqlbKcAFvsFJt4rHbmWqb66Zt4rWHHiV2CnJoxQ11/zSw2jsswCoIEq1bSsCJyESOBVsmuvEikWEjsiAtTUNiM+Uk8y3mOJzrfRwP5T6BIDn6u+OhPhKTXxPV/oEhmrZm4n/ee0Y+tdOwoMoBhbQxUP9WGAI8SwS3OOSURATTQiVXP8V0yGRhIIOLqdDsJdXXiWNy6JtFe37Ur5cSuPIohN0hgrIRleojO5QDdURRY/oGb2iN+PJeDHejY9FacZIe47RHxifP/1eluU=</latexit>
ṗB (t) = I vB (t)

vB (t) linear velocity expressed in inertial frame


I
<latexit sha1_base64="k8+m2AfT1w3m18c43pyjXG2yr58=">AAAB8nicbVBNSwMxEM36WetX1aOXYBHqpexKQY9FL3qrYD9gu5Zsmm1Ds8mSzBbK0p/hxYMiXv013vw3pu0etPXBwOO9GWbmhYngBlz321lb39jc2i7sFHf39g8OS0fHLaNSTVmTKqF0JySGCS5ZEzgI1kk0I3EoWDsc3c789phpw5V8hEnCgpgMJI84JWAlP3u6x+PezbQCF71S2a26c+BV4uWkjHI0eqWvbl/RNGYSqCDG+J6bQJARDZwKNi12U8MSQkdkwHxLJYmZCbL5yVN8bpU+jpS2JQHP1d8TGYmNmcSh7YwJDM2yNxP/8/wUousg4zJJgUm6WBSlAoPCs/9xn2tGQUwsIVRzeyumQ6IJBZtS0YbgLb+8SlqXVc+teg+1cr2Wx1FAp+gMVZCHrlAd3aEGaiKKFHpGr+jNAefFeXc+Fq1rTj5zgv7A+fwBJ+CQdQ==</latexit>

tangent to the curve at I pB (t) <latexit sha1_base64="x8f0gZNkCWTdE8DzUUrSqQP3iPM=">AAAB8nicbVBNSwMxEM3Wr1q/qh69BItQL2VXCnosetFbBfsB27Vk02wbmk2WZFYoS3+GFw+KePXXePPfmLZ70NYHA4/3ZpiZFyaCG3Ddb6ewtr6xuVXcLu3s7u0flA+P2kalmrIWVULpbkgME1yyFnAQrJtoRuJQsE44vpn5nSemDVfyASYJC2IylDzilICV/OzxDif962kVzvvliltz58CrxMtJBeVo9stfvYGiacwkUEGM8T03gSAjGjgVbFrqpYYlhI7JkPmWShIzE2Tzk6f4zCoDHCltSwKeq78nMhIbM4lD2xkTGJllbyb+5/kpRFdBxmWSApN0sShKBQaFZ//jAdeMgphYQqjm9lZMR0QTCjalkg3BW355lbQvap5b8+7rlUY9j6OITtApqiIPXaIGukVN1EIUKfSMXtGbA86L8+58LFoLTj5zjP7A+fwBHqSQbw==</latexit>

{I}
<latexit sha1_base64="cDDKcc1CbMGzts1+sukUhEk2GSQ=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF71VMG2hCWWz3bZLN5uwOxFK6G/w4kERr/4gb/4bt20O2vpg4PHeDDPzolQKg6777ZQ2Nre2d8q7lb39g8Oj6vFJ2ySZZtxniUx0N6KGS6G4jwIl76aa0ziSvBNNbud+54lrIxL1iNOUhzEdKTEUjKKV/CC/D2b9as2tuwuQdeIVpAYFWv3qVzBIWBZzhUxSY3qem2KYU42CST6rBJnhKWUTOuI9SxWNuQnzxbEzcmGVARkm2pZCslB/T+Q0NmYaR7Yzpjg2q95c/M/rZTi8CXOh0gy5YstFw0wSTMj8czIQmjOUU0so08LeStiYasrQ5lOxIXirL6+T9lXdc+veQ6PWbBRxlOEMzuESPLiGJtxBC3xgIOAZXuHNUc6L8+58LFtLTjFzCn/gfP4AwR+Olw==</latexit>

I
<latexit sha1_base64="uMqkZhGapRM2O/Z1X5iyk7O0DGA=">AAAB73icbVDLSgNBEOyNrxhfUY9eBoMQL2FXAnoMetFbBPOAZA2zk9lkyOzDmd5AWPITXjwo4tXf8ebfOEn2oIkFDUVVN91dXiyFRtv+tnJr6xubW/ntws7u3v5B8fCoqaNEMd5gkYxU26OaSxHyBgqUvB0rTgNP8pY3upn5rTFXWkThA05i7gZ0EApfMIpGaj/ejXvXZTzvFUt2xZ6DrBInIyXIUO8Vv7r9iCUBD5FJqnXHsWN0U6pQMMmnhW6ieUzZiA54x9CQBly76fzeKTkzSp/4kTIVIpmrvydSGmg9CTzTGVAc6mVvJv7ndRL0r9xUhHGCPGSLRX4iCUZk9jzpC8UZyokhlClhbiVsSBVlaCIqmBCc5ZdXSfOi4tgV575aqlWzOPJwAqdQBgcuoQa3UIcGMJDwDK/wZj1ZL9a79bFozVnZzDH8gfX5Awb8jz8=</latexit>
vB (t)
I
<latexit sha1_base64="p1VpP9hpU1s9fwHNeSRfvTSLllQ=">AAAB73icbVDLSgNBEOz1GeMr6tHLYBDiJexKQI9BL3qLYB6QrGF2MkmGzM6uM71CWPITXjwo4tXf8ebfOEn2oIkFDUVVN91dQSyFQdf9dlZW19Y3NnNb+e2d3b39wsFhw0SJZrzOIhnpVkANl0LxOgqUvBVrTsNA8mYwup76zSeujYjUPY5j7od0oERfMIpWaj3cxt2rEp51C0W37M5AlomXkSJkqHULX51exJKQK2SSGtP23Bj9lGoUTPJJvpMYHlM2ogPetlTRkBs/nd07IadW6ZF+pG0pJDP190RKQ2PGYWA7Q4pDs+hNxf+8doL9Sz8VKk6QKzZf1E8kwYhMnyc9oTlDObaEMi3srYQNqaYMbUR5G4K3+PIyaZyXPbfs3VWK1UoWRw6O4QRK4MEFVOEGalAHBhKe4RXenEfnxXl3PuatK042cwR/4Hz+AP23jzk=</latexit>
pB (t)

{B}
<latexit sha1_base64="cmUlFg2joGzH8OedYz4vuKU6r2Y=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeiF48VTFtoQtlst+3SzSbsToQS+hu8eFDEqz/Im//GbZuDtj4YeLw3w8y8KJXCoOt+O6WNza3tnfJuZW//4PCoenzSNkmmGfdZIhPdjajhUijuo0DJu6nmNI4k70STu7nfeeLaiEQ94jTlYUxHSgwFo2glP8hvg1m/WnPr7gJknXgFqUGBVr/6FQwSlsVcIZPUmJ7nphjmVKNgks8qQWZ4StmEjnjPUkVjbsJ8ceyMXFhlQIaJtqWQLNTfEzmNjZnGke2MKY7NqjcX//N6GQ5vwlyoNEOu2HLRMJMEEzL/nAyE5gzl1BLKtLC3EjammjK0+VRsCN7qy+ukfVX33Lr30Kg1G0UcZTiDc7gED66hCffQAh8YCHiGV3hzlPPivDsfy9aSU8ycwh84nz+2dY6Q</latexit>
Fundamentals of Kinematics
Rigid Body Kinematics – Angular Motion
• Angular motion: orientation evolves as a function of time
I
B Ṙ
<latexit sha1_base64="eBK0M4r3PBXGbYGF4rQQiUBnQdE=">AAACDHicbVDNTgIxGOz6i/iHevTSSEzwQnYNiV5MCF7khig/CSybbinQ0G03bdeEbHgAL76KFw8a49UH8ObbWJY9KDhJk8nMfG2/8UNGlbbtb2tldW19YzOzld3e2d3bzx0cNpWIJCYNLJiQbR8pwignDU01I+1QEhT4jLT88fXMbz0Qqajg93oSEjdAQ04HFCNtJC+X71W9Cuz2hYZ1eAXvYKFX7YqADJFXOYOJWTcpu2gngMvESUkepKh5uS9zIY4CwjVmSKmOY4fajZHUFDMyzXYjRUKEx2hIOoZyFBDlxskyU3hqlD4cCGkO1zBRf0/EKFBqEvgmGSA9UoveTPzP60R6cOnGlIeRJhzPHxpEDGoBZ83APpUEazYxBGFJzV8hHiGJsDb9ZU0JzuLKy6R5XnTsonNbypdLaR0ZcAxOQAE44AKUwQ2ogQbA4BE8g1fwZj1ZL9a79TGPrljpzBH4A+vzB9MUmEA=</latexit>
= S(I !B )IB R

I
<latexit sha1_base64="JrCeZGSrwkuae6LenbYghkgjQqU=">AAAB+XicbVBNSwMxEM36WevXqkcvwSLUS9mVgh6LXvRWwX5Au5Zsmm1Ds8mSzBbK0n/ixYMiXv0n3vw3pu0etPXBwOO9GWbmhYngBjzv21lb39jc2i7sFHf39g8O3aPjplGppqxBlVC6HRLDBJesARwEayeakTgUrBWObmd+a8y04Uo+wiRhQUwGkkecErBSz3Wzp3vcVTEbkN7NtAwXPbfkVbw58Crxc1JCOeo996vbVzSNmQQqiDEd30sgyIgGTgWbFrupYQmhIzJgHUsliZkJsvnlU3xulT6OlLYlAc/V3xMZiY2ZxKHtjAkMzbI3E//zOilE10HGZZICk3SxKEoFBoVnMeA+14yCmFhCqOb2VkyHRBMKNqyiDcFffnmVNC8rvlfxH6qlWjWPo4BO0RkqIx9doRq6Q3XUQBSN0TN6RW9O5rw4787HonXNyWdO0B84nz9e/JLH</latexit>
!B (t) angular velocity expressed in inertial frame

Recall that
{I}
<latexit sha1_base64="cDDKcc1CbMGzts1+sukUhEk2GSQ=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF71VMG2hCWWz3bZLN5uwOxFK6G/w4kERr/4gb/4bt20O2vpg4PHeDDPzolQKg6777ZQ2Nre2d8q7lb39g8Oj6vFJ2ySZZtxniUx0N6KGS6G4jwIl76aa0ziSvBNNbud+54lrIxL1iNOUhzEdKTEUjKKV/CC/D2b9as2tuwuQdeIVpAYFWv3qVzBIWBZzhUxSY3qem2KYU42CST6rBJnhKWUTOuI9SxWNuQnzxbEzcmGVARkm2pZCslB/T+Q0NmYaR7Yzpjg2q95c/M/rZTi8CXOh0gy5YstFw0wSTMj8czIQmjOUU0so08LeStiYasrQ5lOxIXirL6+T9lXdc+veQ6PWbBRxlOEMzuESPLiGJtxBC3xgIOAZXuHNUc6L8+58LFtLTjFzCn/gfP4AwR+Olw==</latexit>

S(a)b = a ⇥ b <latexit sha1_base64="svvjXvUOL5BPlqsIPGj7JTbaRo8=">AAAB+3icbVDLSgNBEOz1GeNrjUcvg0GIl7ArAb0IAS8eI5oHJEvoncwmQ2YfzMyKYcmvePGgiFd/xJt/4yTZgyYWNBRV3XR3+YngSjvOt7W2vrG5tV3YKe7u7R8c2kellopTSVmTxiKWHR8VEzxiTc21YJ1EMgx9wdr++Gbmtx+ZVDyOHvQkYV6Iw4gHnKI2Ut8u3Vfw3CfXBElP85Ap4vftslN15iCrxM1JGXI0+vZXbxDTNGSRpgKV6rpOor0MpeZUsGmxlyqWIB3jkHUNjdCs8bL57VNyZpQBCWJpKtJkrv6eyDBUahL6pjNEPVLL3kz8z+umOrjyMh4lqWYRXSwKUkF0TGZBkAGXjGoxMQSp5OZWQkcokWoTV9GE4C6/vEpaF1XXqbp3tXK9lsdRgBM4hQq4cAl1uIUGNIHCEzzDK7xZU+vFerc+Fq1rVj5zDH9gff4AcAaStg==</latexit>

2 3
0 a3 a2
S(a) = 4 a3 0 a1 5
a2 a1 0
<latexit sha1_base64="VigzNuXK0cVe9nsIZKBh5RcDMU4=">AAACP3icbVA9SwNBEN3z2/gVtbRZDIoWhrsY0EYQbCwVTRRy4ZjbTOLi3t6xuyeGI//Mxr9gZ2tjoYitnZvLIX4NLPN4bx4788JEcG1c99EZG5+YnJqemS3NzS8sLpWXV5o6ThXDBotFrC5D0Ci4xIbhRuBlohCiUOBFeH001C9uUGkey3PTT7AdQU/yLmdgLBWUm2dbsE0PqB9ij8ssjMAofjugLt2kOxDs2gZBzffpCBe0Ry1jey2XvVzwUXa+/EG54lbdvOhf4BWgQoo6CcoPfidmaYTSMAFatzw3Me0MlOFM4KDkpxoTYNfQw5aFEiLU7Sy/f0A3LNOh3VjZJw3N2e+ODCKt+1FoJ+1+V/q3NiT/01qp6e63My6T1KBko4+6qaAmpsMwaYcrZEb0LQCmuN2VsitQwIyNvGRD8H6f/Bc0a1XPrXqn9cphvYhjhqyRdbJFPLJHDskxOSENwsgdeSIv5NW5d56dN+d9NDrmFJ5V8qOcj09EXaiE</latexit>

{B}
<latexit sha1_base64="cmUlFg2joGzH8OedYz4vuKU6r2Y=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeiF48VTFtoQtlst+3SzSbsToQS+hu8eFDEqz/Im//GbZuDtj4YeLw3w8y8KJXCoOt+O6WNza3tnfJuZW//4PCoenzSNkmmGfdZIhPdjajhUijuo0DJu6nmNI4k70STu7nfeeLaiEQ94jTlYUxHSgwFo2glP8hvg1m/WnPr7gJknXgFqUGBVr/6FQwSlsVcIZPUmJ7nphjmVKNgks8qQWZ4StmEjnjPUkVjbsJ8ceyMXFhlQIaJtqWQLNTfEzmNjZnGke2MKY7NqjcX//N6GQ5vwlyoNEOu2HLRMJMEEzL/nAyE5gzl1BLKtLC3EjammjK0+VRsCN7qy+ukfVX33Lr30Kg1G0UcZTiDc7gED66hCffQAh8YCHiGV3hzlPPivDsfy9aSU8ycwh84nz+2dY6Q</latexit>
Fundamentals of Kinematics
Rigid Body Kinematics – Angular Motion
• Angular motion
I
B Ṙ
<latexit sha1_base64="eBK0M4r3PBXGbYGF4rQQiUBnQdE=">AAACDHicbVDNTgIxGOz6i/iHevTSSEzwQnYNiV5MCF7khig/CSybbinQ0G03bdeEbHgAL76KFw8a49UH8ObbWJY9KDhJk8nMfG2/8UNGlbbtb2tldW19YzOzld3e2d3bzx0cNpWIJCYNLJiQbR8pwignDU01I+1QEhT4jLT88fXMbz0Qqajg93oSEjdAQ04HFCNtJC+X71W9Cuz2hYZ1eAXvYKFX7YqADJFXOYOJWTcpu2gngMvESUkepKh5uS9zIY4CwjVmSKmOY4fajZHUFDMyzXYjRUKEx2hIOoZyFBDlxskyU3hqlD4cCGkO1zBRf0/EKFBqEvgmGSA9UoveTPzP60R6cOnGlIeRJhzPHxpEDGoBZ83APpUEazYxBGFJzV8hHiGJsDb9ZU0JzuLKy6R5XnTsonNbypdLaR0ZcAxOQAE44AKUwQ2ogQbA4BE8g1fwZj1ZL9a79TGPrljpzBH4A+vzB9MUmEA=</latexit>
= S(I !B )IB R

{B}
Why is that so?
<latexit sha1_base64="cmUlFg2joGzH8OedYz4vuKU6r2Y=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeiF48VTFtoQtlst+3SzSbsToQS+hu8eFDEqz/Im//GbZuDtj4YeLw3w8y8KJXCoOt+O6WNza3tnfJuZW//4PCoenzSNkmmGfdZIhPdjajhUijuo0DJu6nmNI4k70STu7nfeeLaiEQ94jTlYUxHSgwFo2glP8hvg1m/WnPr7gJknXgFqUGBVr/6FQwSlsVcIZPUmJ7nphjmVKNgks8qQWZ4StmEjnjPUkVjbsJ8ceyMXFhlQIaJtqWQLNTfEzmNjZnGke2MKY7NqjcX//N6GQ5vwlyoNEOu2HLRMJMEEzL/nAyE5gzl1BLKtLC3EjammjK0+VRsCN7qy+ukfVX33Lr30Kg1G0UcZTiDc7gED66hCffQAh8YCHiGV3hzlPPivDsfy9aSU8ycwh84nz+2dY6Q</latexit>

I
⇥ ⇤
BR
<latexit sha1_base64="3wu3lnDI8uvPQOqZE5Fh6tCfWnE=">AAACNXicbVBLSwMxEM76tr6qHr0Ei6KXstsKehFELwqC9VEVunVJ0mkbzGaXJCuWpX/Ki//Dkx48KOLVv2C6LfgcmOHL982QmY/Ggmvjuk/O0PDI6Nj4xGRuanpmdi4/v3Cuo0QxqLJIROqSEg2CS6gabgRcxgpISAVc0Ou9nn5xA0rzSJ6ZTgz1kLQkb3JGjKWC/OHVQbCLT/B2lj6FFpcpDYlR/LaLVeDhVVtLWS37IBtfos8l9u2jTWl6etRdK68H+YJbdLPAf4E3AAU0iEqQf/AbEUtCkIYJonXNc2NTT4kynAno5vxEQ0zYNWlBzUJJQtD1NLu6i1cs08DNSNmUBmfs94mUhFp3Qmo7e1vq31qP/E+rJaa5VU+5jBMDkvU/aiYCmwj3LMQNroAZ0bGAMMXtrpi1iSLMWKNz1gTv98l/wXmp6LlF73ijsLMxsGMCLaFltIY8tIl20D6qoCpi6A49ohf06tw7z86b895vHXIGM4voRzgfnz9uqL0=</latexit>
= R = r1 r2 r3 2 SO(3)

riT ri = 1
riT ṙi = 0 r2 <latexit sha1_base64="Qh3uzsyK9GK8FuOJ4Cps4xLYLHs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48VTVtoQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8MJXCoOt+O6WNza3tnfJuZW//4PCoenzSNkmmGfdZIhPdDanhUijuo0DJu6nmNA4l74ST27nfeeLaiEQ94jTlQUxHSkSCUbTSgx54g2rNrbsLkHXiFaQGBVqD6ld/mLAs5gqZpMb0PDfFIKcaBZN8VulnhqeUTeiI9yxVNOYmyBenzsiFVYYkSrQthWSh/p7IaWzMNA5tZ0xxbFa9ufif18swuglyodIMuWLLRVEmCSZk/jcZCs0ZyqkllGlhbyVsTDVlaNOp2BC81ZfXSfuq7rl1775RazaKOMpwBudwCR5cQxPuoAU+MBjBM7zCmyOdF+fd+Vi2lpxi5hT+wPn8Af5HjYw=</latexit>
r1
<latexit sha1_base64="I7VMZpTwCBMvwPRJRU9Q64c8e8M=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lKoR4LXjxWtB/QhrLZTtqlm03Y3Qgl9Cd48aCIV3+RN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbT24XffUKleSwfzSxBP6JjyUPOqLHSgxrWhuWKW3WXIJvEy0kFcrSG5a/BKGZphNIwQbXue25i/Iwqw5nAeWmQakwom9Ix9i2VNELtZ8tT5+TKKiMSxsqWNGSp/p7IaKT1LApsZ0TNRK97C/E/r5+a8MbPuExSg5KtFoWpICYmi7/JiCtkRswsoUxxeythE6ooMzadkg3BW395k3RqVc+tevf1SrOex1GEC7iEa/CgAU24gxa0gcEYnuEV3hzhvDjvzseqteDkM+fwB87nD//LjY0=</latexit>

ṙi = I !B ⇥ ri <latexit sha1_base64="eXdWlhjE03423sq2AlnpbgCiXdI=">AAAB73icbVDLSgMxFL1TX7W+qi7dBIvgqsyUQl0W3LisYB/QDiWTZtrQTGZM7ghl6E+4caGIW3/HnX9j2s5CWw8EDufcQ+49QSKFQdf9dgpb2zu7e8X90sHh0fFJ+fSsY+JUM95msYx1L6CGS6F4GwVK3ks0p1EgeTeY3i787hPXRsTqAWcJ9yM6ViIUjKKVeoNRjEQPa8Nyxa26S5BN4uWkAjlaw/KXjbI04gqZpMb0PTdBP6MaBZN8XhqkhieUTemY9y1VNOLGz5b7zsmVVUYkjLV9CslS/Z3IaGTMLArsZERxYta9hfif108xvPEzoZIUuWKrj8JUEozJ4ngyEpozlDNLKNPC7krYhGrK0FZUsiV46ydvkk6t6rlV775eadbzOopwAZdwDR40oAl30II2MJDwDK/w5jw6L86787EaLTh55hz+wPn8AW1mj4I=</latexit>


ṙ2
riT ṙi = 0
<latexit sha1_base64="hsFZBz13HYeZA+Nw/as3ZsS0heY=">AAACMHicbVDLSgMxFM3UV62vqks3wWJxVWakoJtC0YW6q9AXdKZDJk3b0MyD5I5Qhn6SGz9FNwqKuPUrTNtZ1NYLCeeec29u7vEiwRWY5ruRWVvf2NzKbud2dvf2D/KHR00VxpKyBg1FKNseUUzwgDWAg2DtSDLie4K1vNHNVG89Mql4GNRhHDHHJ4OA9zkloCk3fytd3q3rq1ixbDs3y7DdCwFriIsVbGp2MU+693boswFxryfYBu4zNZXcfMEsmbPAq8BKQQGlUXPzL/pVGvssACqIUh3LjMBJiAROBZvk7FixiNARGbCOhgHRg5xktvAEn2mmh/uh1CcAPGMXOxLiKzX2PV3pExiqZW1K/qd1YuhfOQkPohhYQOeD+rHAEOKpe7jHJaMgxhoQKrn+K6ZDIgkF7XFOm2Atr7wKmhclyyxZD+VCtZzakUUn6BSdIwtdoiq6QzXUQBQ9oVf0gT6NZ+PN+DK+56UZI+05Rn/C+PkFV9Cmug==</latexit>

<latexit sha1_base64="oW/IjbaE8qrMZFXB2wILOkUeo+0=">AAAB+3icbVDLSgNBEOyNrxhfazx6GQyCp7ArAb0IAS8eI+QFybrMTmaTIbMPZnrFEPIrXjwo4tUf8ebfOEn2oIkFA0VVF91TQSqFRsf5tgobm1vbO8Xd0t7+weGRfVxu6yRTjLdYIhPVDajmUsS8hQIl76aK0yiQvBOMb+d+55ErLZK4iZOUexEdxiIUjKKRfLusfPHQJP1BgsRQckMc3644VWcBsk7cnFQgR8O3v0ycZRGPkUmqdc91UvSmVKFgks9K/UzzlLIxHfKeoTGNuPami9tn5NwoAxImyrwYyUL9nZjSSOtJFJjJiOJIr3pz8T+vl2F47U1FnGbIY7ZcFGaSYELmRZCBUJyhnBhCmRLmVsJGVFGGpq6SKcFd/fI6aV9WXafq3tcq9VpeRxFO4QwuwIUrqMMdNKAFDJ7gGV7hzZpZL9a79bEcLVh55gT+wPr8Afbfkwc=</latexit>

⇥ ⇤ I
⇥ ⇤
ṙ1 ṙ2 ṙ3 = S( !B ) r1 r2 r3 I
<latexit sha1_base64="xQmYH/prLjGqPicEcBnjvhlFAG0=">AAACYHicbZHLTgIxFIY74w0RBHWnm0aiwQ2ZQRPdmBjd6A6jCAmDk045QEOnM2k7Kpnwku5cuPFJLBeDgidp8uU/l57+DWLOlHacD8teWV1b38hsZrdy+e1CcWf3SUWJpFCnEY9kMyAKOBNQ10xzaMYSSBhwaASDm3G+8QJSsUg86mEM7ZD0BOsySrSR/OKrF0CPiTQIiZbsbYS9TqSx9F18/IPVOZ56IDrz2kv8UH6+86IQesS/PlkcNZ0yHbDY6xdLTsWZBF4GdwYlNIuaX3w3O9AkBKEpJ0q1XCfW7ZRIzSiHUdZLFMSEDkgPWgYFCUG104lBI3xklA7uRtIcofFE/d2RklCpYRiYSrNfXy3mxuJ/uVaiuxftlIk40SDo9KJuwrGO8Nht3GESqOZDA4RKZnbFtE8kodr8SdaY4C4+eRmeqhXXqbj3Z6Wrs5kdGXSADlEZuegcXaFbVEN1RNGntWLlrLz1ZWfsgr0zLbWtWc8e+hP2/je5i7Pv</latexit>

<latexit sha1_base64="CT9sEqFVDjh3gSYAU7P3oq/fvLI=">AAAB/3icbVDLSgMxFM3UV62vUcGNm2ARXJUZLeiy6EZ3FewDOuOQSTNtaCYJSUYotQt/xY0LRdz6G+78G9N2Ftp64MLhnHu5955YMqqN5307haXlldW14nppY3Nre8fd3WtqkSlMGlgwodox0oRRThqGGkbaUhGUxoy04sHVxG89EKWp4HdmKEmYoh6nCcXIWClyD+5vApGSHoouYSCVkEZAFZ1FbtmreFPAReLnpAxy1CP3K+gKnKWEG8yQ1h3fkyYcIWUoZmRcCjJNJMID1CMdSzlKiQ5H0/vH8NgqXZgIZYsbOFV/T4xQqvUwjW1nikxfz3sT8T+vk5nkIhxRLjNDOJ4tSjIG7ZOTMGCXKoING1qCsKL2Voj7SCFsbGQlG4I///IiaZ5WfK/i31bLtWoeRxEcgiNwAnxwDmrgGtRBA2DwCJ7BK3hznpwX5935mLUWnHxmH/yB8/kDC9yVag==</latexit>
! B / r3
<latexit sha1_base64="kXv16985uKOLjNpoHc83SDKxzBs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0m0UI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKD3pwPShX3Kq7AFknXk4qkKM5KH/1hzFLI66QSWpMz3MT9DOqUTDJZ6V+anhC2YSOeM9SRSNu/Gxx6oxcWGVIwljbUkgW6u+JjEbGTKPAdkYUx2bVm4v/eb0Uwxs/EypJkSu2XBSmkmBM5n+TodCcoZxaQpkW9lbCxlRThjadkg3BW315nbSvqp5b9e5rlUYtj6MIZ3AOl+BBHRpwB01oAYMRPMMrvDnSeXHenY9la8HJZ07hD5zPHwFejY4=</latexit>
r3
Fundamentals of Kinematics
Rigid Body Kinematics – Angular Motion
• Angular motion
I
B Ṙ
<latexit sha1_base64="eBK0M4r3PBXGbYGF4rQQiUBnQdE=">AAACDHicbVDNTgIxGOz6i/iHevTSSEzwQnYNiV5MCF7khig/CSybbinQ0G03bdeEbHgAL76KFw8a49UH8ObbWJY9KDhJk8nMfG2/8UNGlbbtb2tldW19YzOzld3e2d3bzx0cNpWIJCYNLJiQbR8pwignDU01I+1QEhT4jLT88fXMbz0Qqajg93oSEjdAQ04HFCNtJC+X71W9Cuz2hYZ1eAXvYKFX7YqADJFXOYOJWTcpu2gngMvESUkepKh5uS9zIY4CwjVmSKmOY4fajZHUFDMyzXYjRUKEx2hIOoZyFBDlxskyU3hqlD4cCGkO1zBRf0/EKFBqEvgmGSA9UoveTPzP60R6cOnGlIeRJhzPHxpEDGoBZ83APpUEazYxBGFJzV8hHiGJsDb9ZU0JzuLKy6R5XnTsonNbypdLaR0ZcAxOQAE44AKUwQ2ogQbA4BE8g1fwZj1ZL9a79TGPrljpzBH4A+vzB9MUmEA=</latexit>
= S(I !B )IB R and <latexit sha1_base64="VARQ6JTnXffxp/lwvLmTVoBlP4k=">AAACGXicbVDLSgMxFM3UV62vUZdugkWoIGVGCroRSt3YXa32AZ3pkEkzbWjmQZIRytDfcOOvuHGhiEtd+Tem01lo64HAyTn33uQeN2JUSMP41nIrq2vrG/nNwtb2zu6evn/QFmHMMWnhkIW86yJBGA1IS1LJSDfiBPkuIx13fD3zOw+ECxoG93ISEdtHw4B6FCOpJEc3+nWnBq1BKGETXsEkvTan1hm8g6V+zanDpuL9uhX6ZIic2qmjF42ykQIuEzMjRZCh4eifajqOfRJIzJAQPdOIpJ0gLilmZFqwYkEihMdoSHqKBsgnwk7SzabwRCkD6IVcnUDCVP3dkSBfiInvqkofyZFY9Gbif14vlt6lndAgiiUJ8PwhL2ZQhnAWExxQTrBkE0UQ5lT9FeIR4ghLFWZBhWAurrxM2udl0yibt5VitZLFkQdH4BiUgAkuQBXcgAZoAQwewTN4BW/ak/aivWsf89KclvUcgj/Qvn4ANMScpA==</latexit>
I
B Ṙ = IB R S(B I
I R !B )

Using “lighter” notation

R := IB R, ! := B I
I R !B
<latexit sha1_base64="SAbt/LVCPRWBD0eQDb3UXeS0wUw=">AAACF3icbZDLSsNAFIYnXmu9RV26GSyCCwmJFBRBKHVjd7XYCzQxTKbTdujkwsxEKCFv4cZXceNCEbe6822cNFlo64GBn+8/hzPn9yJGhTTNb21peWV1bb20Ud7c2t7Z1ff2OyKMOSZtHLKQ9zwkCKMBaUsqGelFnCDfY6TrTa4zv/tAuKBhcCenEXF8NArokGIkFXJ1owUvr2By33DrsJWe2tAOfTJCOay7jVaamTl066mrV0zDnBVcFFYhKqCopqt/2YMQxz4JJGZIiL5lRtJJEJcUM5KW7ViQCOEJGpG+kgHyiXCS2V0pPFZkAIchVy+QcEZ/TyTIF2Lqe6rTR3Is5r0M/uf1Yzm8cBIaRLEkAc4XDWMGZQizkOCAcoIlmyqBMKfqrxCPEUdYqijLKgRr/uRF0TkzLNOwbquVWrWIowQOwRE4ARY4BzVwA5qgDTB4BM/gFbxpT9qL9q595K1LWjFzAP6U9vkD4KqdPw==</latexit>

Ṙ = S(I !B )R
<latexit sha1_base64="wCYVOZWDqSUtfVaf98ZMYHxy/zM=">AAACAXicbVDLSgMxFM34rPU16kZwEyxC3ZQZKehGKLrRXa32Ae04ZNJMG5pJhiQjlKFu/BU3LhRx61+4829M21lo64ELh3PuTe49Qcyo0o7zbS0sLi2vrObW8usbm1vb9s5uQ4lEYlLHggnZCpAijHJS11Qz0oolQVHASDMYXI795gORigp+p4cx8SLU4zSkGGkj+fZ+pys0rMFzeFu8v+6IiPSQf3EMa75dcErOBHCeuBkpgAxV3/4yT+EkIlxjhpRqu06svRRJTTEjo3wnUSRGeIB6pG0oRxFRXjq5YASPjNKFoZCmuIYT9fdEiiKlhlFgOiOk+2rWG4v/ee1Eh2deSnmcaMLx9KMwYVALOI4DdqkkWLOhIQhLanaFuI8kwtqEljchuLMnz5PGScl1Su5NuVApZ3HkwAE4BEXgglNQAVegCuoAg0fwDF7Bm/VkvVjv1se0dcHKZvbAH1ifP2rflOI=</latexit>
and Ṙ = RS(!)
<latexit sha1_base64="rkoaJRDmEoeh6XeKQVSNZBpyG74=">AAAB/XicbVDLSgMxFM34rPU1PnZugkWomzIjBd0IBTcu66MPaIeSSe+0oclkSDJCLcVfceNCEbf+hzv/xrSdhbYeuHA4596bmxMmnGnjed/O0vLK6tp6biO/ubW9s+vu7de1TBWFGpVcqmZINHAWQ80ww6GZKCAi5NAIB1cTv/EASjMZ35thAoEgvZhFjBJjpY572O5Kg2/xpa27YlsK6JHTjlvwSt4UeJH4GSmgDNWO+2XX0FRAbCgnWrd8LzHBiCjDKIdxvp1qSAgdkB60LI2JAB2MpteP8YlVujiSylZs8FT9PTEiQuuhCG2nIKav572J+J/XSk10EYxYnKQGYjp7KEo5NhJPosBdpoAaPrSEUMXsrZj2iSLU2MDyNgR//suLpH5W8r2Sf1MuVMpZHDl0hI5REfnoHFXQNaqiGqLoET2jV/TmPDkvzrvzMWtdcrKZA/QHzucPyDmTcg==</latexit>

Expressed in inertial frame Expressed in body frame


RRT = I RT R = I
ṘRT = RṘT = S(I !B ) ṘT R = RT Ṙ = S(!)

<latexit sha1_base64="lKDKR7unBnIUPDgUxSQnWIlgHBA=">AAACPHicbVDLTgIxFO3gC8fXqEs3jUSCC8mMIdENCdGN7JB3wsCkUwo0dB5pOyaE8GFu/Ah3rty40Bi3ru0A8QGepMnpOffe9h43ZFRI03zSEiura+sbyU19a3tnd8/YP6iLIOKY1HDAAt50kSCM+qQmqWSkGXKCPJeRhju8jv3GHeGCBn5VjkLS9lDfpz2KkVSSY1TKsNypwnQeFm1bt7uBhN/KmaIzRd3zsJLpFO3AI33kXJ3+FKcXnLLuGCkza04Bl4k1JykwR8kxHtUsHHnEl5ghIVqWGcr2GHFJMSMT3Y4ECREeoj5pKeojj4j2eLr8BJ4opQt7AVfHl3Cq/u4YI0+IkeeqSg/JgVj0YvE/rxXJ3mV7TP0wksTHs4d6EYMygHGSsEs5wZKNFEGYU/VXiAeIIyxV3nEI1uLKy6R+nrXMrHWbSxVy8ziS4AgcgwywwAUogBtQAjWAwT14Bq/gTXvQXrR37WNWmtDmPYfgD7TPL9fRp1Y=</latexit>
Ṙ = S(I !B )R RT Ṙ = S(!)
<latexit sha1_base64="ybyOkan46LocPPN4kAvsvdtO3aM=">AAACN3icbVBLSwMxGMzWV11fVY9egsVSD5ZdKeilUPCiF6m1L+iuJZumbWj2QZIVytJ/5cW/4U0vHhTx6j8wu12kVgcCw8x8Sb5xAkaFNIxnLbO0vLK6ll3XNza3tndyu3st4Ycckyb2mc87DhKEUY80JZWMdAJOkOsw0nbGF7HfvidcUN9ryElAbBcNPTqgGEkl9XLX9bsGrMNCBV5Zlm71fQl/lJOEzjRYgbdFy3fJEB2r4JxRmHP0Xi5vlIwE8C8xU5IHKWq93JO6Bocu8SRmSIiuaQTSjhCXFDMy1a1QkADhMRqSrqIecomwo2TvKTxSSh8OfK6OJ2Gizk9EyBVi4joq6SI5EoteLP7ndUM5OLcj6gWhJB6ePTQIGZQ+jEuEfcoJlmyiCMKcqr9CPEIcYamqjkswF1f+S1qnJdMomTflfLWc1pEFB+AQFIEJzkAVXIIaaAIMHsALeAPv2qP2qn1on7NoRktn9sEvaF/fA66lZg==</latexit>
Fundamentals of Kinematics
Rigid Body Kinematics
• With velocities expressed in inertial frame
<latexit sha1_base64="NboG9F86R/6yIZg94SZP7dUUbiI=">AAAB+nicbVDLSsNAFL2pr1pfqS7dDBbBVUlE0I1QdKO7CvYBbQyT6aQdOpmEmUmlxH6KGxeKuPVL3Pk3TtsstPXAhcM5987ce4KEM6Ud59sqrKyurW8UN0tb2zu7e3Z5v6niVBLaIDGPZTvAinImaEMzzWk7kRRHAaetYHg99VsjKhWLxb0eJ9SLcF+wkBGsjeTb5W4v1ihBlyh7uEUj/2ri2xWn6syAlombkwrkqPv2l3mDpBEVmnCsVMd1Eu1lWGpGOJ2UuqmiCSZD3KcdQwWOqPKy2eoTdGyUHgpjaUpoNFN/T2Q4UmocBaYzwnqgFr2p+J/XSXV44WVMJKmmgsw/ClOOdIymOaAek5RoPjYEE8nMrogMsMREm7RKJgR38eRl0jytuk7VvTur1M7yOIpwCEdwAi6cQw1uoA4NIPAIz/AKb9aT9WK9Wx/z1oKVzxzAH1ifP38qks0=</latexit>
ṗ = I vB

Ṙ = S(I !B )R
<latexit sha1_base64="MwzVKrv/oUXDFgVOtoTJcivJccw=">AAACA3icbVDLSgMxFM34rPU16k43wSLUTZmRgm6Eohvd1Wof0I5DJs20oclkSDJCGQpu/BU3LhRx60+4829M21lo64ELh3PuTe49Qcyo0o7zbS0sLi2vrObW8usbm1vb9s5uQ4lEYlLHggnZCpAijEakrqlmpBVLgnjASDMYXI795gORioroTg9j4nHUi2hIMdJG8u39TldoWIPn8LaY3l/DjuCkh/yL0XHNtwtOyZkAzhM3IwWQoerbX+YxnHASacyQUm3XibWXIqkpZmSU7ySKxAgPUI+0DY0QJ8pLJzeM4JFRujAU0lSk4UT9PZEirtSQB6aTI91Xs95Y/M9rJzo881IaxYkmEZ5+FCYMagHHgcAulQRrNjQEYUnNrhD3kURYm9jyJgR39uR50jgpuU7JvSkXKuUsjhw4AIegCFxwCirgClRBHWDwCJ7BK3iznqwX6936mLYuWNnMHvgD6/MHPM2V7g==</latexit>

• With velocities expressed in body frame {B}


p
<latexit sha1_base64="e6CySsA1TuyZPt4TZnKhaucfCJA=">AAAB83icbVDLSgMxFL1TX7W+qi7dBIvgqsxIQTdCwY3LKvYB7VAyaaYNzcyE5E6hDP0NNy4UcevPuPNvTNtZaOuBwOGce7g3J1BSGHTdb6ewsbm1vVPcLe3tHxwelY9PWiZJNeNNlshEdwJquBQxb6JAyTtKcxoFkreD8d3cb0+4NiKJn3CquB/RYSxCwShaqdcbJEgUuSWPZNIvV9yquwBZJ15OKpCj0S9/2ThLIx4jk9SYrucq9DOqUTDJZ6VeariibEyHvGtpTCNu/Gxx84xcWGVAwkTbFyNZqL8TGY2MmUaBnYwojsyqNxf/87ophjd+JmKVIo/ZclGYSoIJmRdABkJzhnJqCWVa2FsJG1FNGdqaSrYEb/XL66R1VfXcqvdQq9RreR1FOINzuAQPrqEO99CAJjBQ8Ayv8Oakzovz7nwsRwtOnjmFP3A+fwBKwZB8</latexit>
ṗ = Rv
{I}
Ṙ = RS(!)
<latexit sha1_base64="rkoaJRDmEoeh6XeKQVSNZBpyG74=">AAAB/XicbVDLSgMxFM34rPU1PnZugkWomzIjBd0IBTcu66MPaIeSSe+0oclkSDJCLcVfceNCEbf+hzv/xrSdhbYeuHA4596bmxMmnGnjed/O0vLK6tp6biO/ubW9s+vu7de1TBWFGpVcqmZINHAWQ80ww6GZKCAi5NAIB1cTv/EASjMZ35thAoEgvZhFjBJjpY572O5Kg2/xpa27YlsK6JHTjlvwSt4UeJH4GSmgDNWO+2XX0FRAbCgnWrd8LzHBiCjDKIdxvp1qSAgdkB60LI2JAB2MpteP8YlVujiSylZs8FT9PTEiQuuhCG2nIKav572J+J/XSk10EYxYnKQGYjp7KEo5NhJPosBdpoAaPrSEUMXsrZj2iSLU2MDyNgR//suLpH5W8r2Sf1MuVMpZHDl0hI5REfnoHFXQNaqiGqLoET2jV/TmPDkvzrvzMWtdcrKZA/QHzucPyDmTcg==</latexit>

B
• With position also expressed in body frame <latexit sha1_base64="yqyuf8Q4mf4va//Ma0A2AYALdfs=">AAAB/XicbVDLSgMxFM34rPU1PnZugkVwIWVGCooglLrRXRX7gHY6ZNJMG5rJhCQj1KH4K25cKOLW/3Dn35i2s9DWAxcO59zLvfcEglGlHefbWlhcWl5Zza3l1zc2t7btnd26ihOJSQ3HLJbNACnCKCc1TTUjTSEJigJGGsHgauw3HohUNOb3eiiIF6EepyHFSBvJt/c7FSjgxSVMOxX/Bt6N2idQ+HbBKToTwHniZqQAMlR9+6vdjXESEa4xQ0q1XEdoL0VSU8zIKN9OFBEID1CPtAzlKCLKSyfXj+CRUbowjKUpruFE/T2RokipYRSYzgjpvpr1xuJ/XivR4bmXUi4STTieLgoTBnUMx1HALpUEazY0BGFJza0Q95FEWJvA8iYEd/bleVI/LbpO0b0tFcqlLI4cOACH4Bi44AyUwTWoghrA4BE8g1fwZj1ZL9a79TFtXbCymT3wB9bnDzgokxY=</latexit>
p := B
I Rp

B
<latexit sha1_base64="zgBDRjk8pMjGvpGYr0WYbsn6030=">AAACB3icbVDLSgMxFM3UV62vUZeCBItQEcuMFBRBKHXjsqJ9QDstmTRtQ5PJkGQKZejOjb/ixoUibv0Fd/6NaTsLbT1w4XDOvcm9xw8ZVdpxvq3U0vLK6lp6PbOxubW9Y+/uVZWIJCYVLJiQdR8pwmhAKppqRuqhJIj7jNT8wc3Erw2JVFQED3oUEo+jXkC7FCNtpLZ92Co1O0LDEF5dw7P7XFNw0kMnsFUK4Skctu2sk3emgIvETUgWJCi37S/zHI44CTRmSKmG64Tai5HUFDMyzjQjRUKEB6hHGoYGiBPlxdM7xvDYKB3YFdJUoOFU/T0RI67UiPumkyPdV/PeRPzPa0S6e+nFNAgjTQI8+6gbMagFnIQCO1QSrNnIEIQlNbtC3EcSYW2iy5gQ3PmTF0n1PO86efeukC0WkjjS4AAcgRxwwQUogltQBhWAwSN4Bq/gzXqyXqx362PWmrKSmX3wB9bnD7iplpo=</latexit>
ṗ := S(!)B p + v
Fundamentals of Kinematics
Alternative angular kinematics representation – Euler angles
⇥ ⇤
• Given <latexit sha1_base64="nCyPpPk1SIomanLSZDm7XZ7TZJs=">AAACN3icbZBBSxtBFMdno9WYVk3bYy+DocFT2FWhvRQCvfQkaWlUyMQwM/uSDJmdXWbeSsOSb9VLv4Y3vXhoEa9+g84mQTT6YODH//0f895fZFo5DMOroLK2/mpjs7pVe/1me2e3/vbdiUtzK6ErU53aM8EdaGWgiwo1nGUWeCI0nIrJ17J/egHWqdT8xGkG/YSPjBoqydFLg/ox094c81rzC2UCRsoUIuFo1a8ZZdlY0SZlOAbkJWROUQYmfrAwZSjzPBai+DE7P6wN6o2wFc6LPodoCQ2yrM6gfsniVOYJGJSaO9eLwgz7BbeopIZZjeUOMi4nfAQ9j4Yn4PrF/O4Z/eiVmA5T659BOlcfTxQ8cW6aCO8sl3SrvVJ8qdfLcfi5XyiT5QhGLj4a5ppiSssQaawsSNRTD1xa5Xelcswtl+ijLkOIVk9+DicHrShsRd+PGu2jZRxV8oHskX0SkU+kTb6RDukSSX6Ta/KX/Av+BDfBbXC3sFaC5cx78qSC+/9D2quK</latexit>
= ✓ 2 R3

R( ) = Rz ( )Ry (✓)Rx ( )
<latexit sha1_base64="F38CTL16lur6iclpE3PhE53yfIg=">AAACFnicbZDLSgMxFIYzXmu9jbp0EyxKu7DMSEE3QsGNy1rsBTrDkEnTNjSTGZIzYi19Cje+ihsXirgVd76N6WWhrT8EPv5zDifnDxPBNTjOt7W0vLK6tp7ZyG5ube/s2nv7dR2nirIajUWsmiHRTHDJasBBsGaiGIlCwRph/2pcb9wxpXksb2GQMD8iXck7nBIwVmCfVvOeMO1tUsAnl7gaPOS9RPOCoUHegx4DMuZ74/Z4IbBzTtGZCC+CO4McmqkS2F9eO6ZpxCRQQbRuuU4C/pAo4FSwUdZLNUsI7ZMuaxmUJGLaH07OGuFj47RxJ1bmScAT9/fEkERaD6LQdEYEenq+Njb/q7VS6Fz4Qy6TFJik00WdVGCI8Tgj3OaKURADA4Qqbv6KaY8oQsEkmTUhuPMnL0L9rOg6RfemlCuXZnFk0CE6QnnkonNURteogmqIokf0jF7Rm/VkvVjv1se0dcmazRygP7I+fwAZd5zK</latexit>

Ṙ = RS(!)
<latexit sha1_base64="rkoaJRDmEoeh6XeKQVSNZBpyG74=">AAAB/XicbVDLSgMxFM34rPU1PnZugkWomzIjBd0IBTcu66MPaIeSSe+0oclkSDJCLcVfceNCEbf+hzv/xrSdhbYeuHA4596bmxMmnGnjed/O0vLK6tp6biO/ubW9s+vu7de1TBWFGpVcqmZINHAWQ80ww6GZKCAi5NAIB1cTv/EASjMZ35thAoEgvZhFjBJjpY572O5Kg2/xpa27YlsK6JHTjlvwSt4UeJH4GSmgDNWO+2XX0FRAbCgnWrd8LzHBiCjDKIdxvp1qSAgdkB60LI2JAB2MpteP8YlVujiSylZs8FT9PTEiQuuhCG2nIKav572J+J/XSk10EYxYnKQGYjp7KEo5NhJPosBdpoAaPrSEUMXsrZj2iSLU2MDyNgR//suLpH5W8r2Sf1MuVMpZHDl0hI5REfnoHFXQNaqiGqLoET2jV/TmPDkvzrvzMWtdcrKZA/QHzucPyDmTcg==</latexit>

derive
2 3
1 sin tan ✓ cos tan ✓
˙ = Q( )! Q ( ) = 40 cos sin 5
sin cos
<latexit sha1_base64="XWepwF5qFl4mig9FTOGYlInq/+o=">AAACCXicbVBLSwMxGMz6rPW16tFLsAj1UnaloBeh4MVjC/YB3aVks9k2NI8lyQpl6dWLf8WLB0W8+g+8+W9M2z1o60BgmPkmyTdRyqg2nvftrK1vbG5tl3bKu3v7B4fu0XFHy0xh0saSSdWLkCaMCtI21DDSSxVBPGKkG41vZ373gShNpbg3k5SEHA0FTShGxkoDFwaxNDBgNhEjeANb1YJfwEByMkQDt+LVvDngKvELUgEFmgP3y16JM06EwQxp3fe91IQ5UoZiRqblINMkRXiMhqRvqUCc6DCfbzKF51aJYSKVPcLAufo7kSOu9YRHdpIjM9LL3kz8z+tnJrkOcyrSzBCBFw8lGYNGwlktMKaKYMMmliCsqP0rxCOkEDa2vLItwV9eeZV0Lmu+V/Nb9UqjXtRRAqfgDFSBD65AA9yBJmgDDB7BM3gFb86T8+K8Ox+L0TWnyJyAP3A+fwBIHZi+</latexit>

0
<latexit sha1_base64="mlFuNHigLbZiFqPgQ7Hba2Ftcp8=">AAACs3icbVFNT9wwEHXSUiD9WtpjL1ZXRXDoKqlA7QUJiQtHkNgFab3aTpzJxsJxIntSdRXtH+yxN/4N3g+gy3YkS0/vzTyPn9NaK0dxfBeEL15uvdre2Y1ev3n77n1n78PAVY2V2JeVruxNCg61MtgnRRpvaotQphqv09uzuX79C61TlbmiaY2jEiZG5UoCeWrc+XMpNOZ0ILSfyUBYNSnokJ/wSKQ4UaZNSyCrfs+ihO9z4ZThoi4UFwQeUYEEc15WboMXIorXtH3+9cnhQc0tyPaRnbXL9oXB7El/8FjXI4Eme9xw3OnGvXhRfBMkK9Blq7oYd/6KrJJNiYakBueGSVzTqAVLSmr07o3DGuQtTHDooYES3ahdZD7jXzyT8byy/hjiC/bfiRZK56Zl6jv9foV7rs3J/2nDhvIfo1aZuiE0cnlR3mhOFZ9/IM+URUl66gFIq/yuXBbgUyL/zZEPIXn+5E0w+NZL4l5yedQ9PVrFscM+sc/sgCXsOztl5+yC9ZkM4mAQjIOf4XE4DNMwW7aGwWrmI1ursLwHVfvRuA==</latexit>
cos ✓ cos ✓

Intermediatte step: derive


2 3 2 3 2 3
1 0 0
! = RxT ( )RyT (✓) ˙ e3 + RxT ( )✓e
˙ 2 + ˙ e1 e1 = 405 e2 = 415 e3 = 405
0 0 1
<latexit sha1_base64="dd2ndZxkmLdsfcYyuoWH+56uH8s=">AAACRHicbZBLSwMxFIUzPmt9VV26CRZBEcpMLehGENy4rNJWoVOHTHrbCWYeJHfEUvxxbvwB7vwFblwo4lbMTLvQ1guBj3POJcnxEyk02vaLNTM7N7+wWFgqLq+srq2XNjZbOk4VhyaPZayufaZBigiaKFDCdaKAhb6EK//2LPOv7kBpEUcNHCTQCVk/Ej3BGRrJK7XdOIQ+oyf00ru/aey5SSD2DQ8yxgCQ7VO3G6ObaEHBO6QHf4K5lceMWTXmKBtkWccrle2KnQ+dBmcMZTKeuld6Nus8DSFCLpnWbcdOsDNkCgWX8FB0Uw0J47esD22DEQtBd4Z5CQ901yhd2ouVORHSXP29MWSh1oPQN8mQYaAnvUz8z2un2DvuDEWUpAgRH13USyXFmGaN0q5QwFEODDCuhHkr5QFTjKPpvWhKcCa/PA2tasWxK85FrXxaG9dRINtkh+wRhxyRU3JO6qRJOHkkr+SdfFhP1pv1aX2NojPWeGeL/Bnr+wfVAK5W</latexit>

<latexit sha1_base64="LWQrrPSgYC4+0FVtr5P38J9ol5o=">AAACfHicdZFNSwMxEIaz61etX6sePRisgiKWTS3qRSh48ahgVeiWJZtOa2g2uyRZsSz9Ff4zb/4UL2LaruJHHUh4eWceMpmJUsG18f1Xx52ZnZtfKC2Wl5ZXVte89Y1bnWSKQZMlIlH3EdUguISm4UbAfaqAxpGAu6h/McrfPYLSPJE3ZpBCO6Y9ybucUWOt0HuGkOBzHETQ4zKPYmoUfxpigoMA+8UFsvOVCXAZwtoUYlxMphEWOP4P+KS+A+XQq/hVfxz4ryCFqKAirkLvJegkLItBGiao1i3ip6adU2U4EzAsB5mGlLI+7UHLSklj0O18PLwh3rNOB3cTZY80eOx+J3Iaaz2II1tpG3zQv3Mjc1qulZnuWTvnMs0MSDZ5qJsJbBI82gTucAXMiIEVlClue8XsgSrKjN3XaAjk95f/ittalfhVcl2vNOrFOEpoC+2gfUTQKWqgS3SFmoihN2fb2XcOnHd31z10jyalrlMwm+hHuCcfX7q8ag==</latexit>
Fundamentals of Dynamics
Rigid Body Dynamics
• Particles in the rigid body
I
q = I pB + IB R B r {I} q
<latexit sha1_base64="4MA6ccpWeagm54sma+pczmLr8VM=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t2A9oQ9lsJ+3azSbuboQS+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBFcG9f9dgobm1vbO8Xd0t7+weFR+fikreNUMWyxWMSqG1CNgktsGW4EdhOFNAoEdoLJ7dzvPKHSPJb3ZpqgH9GR5CFn1Fip+TgoV9yquwBZJ15OKpCjMSh/9YcxSyOUhgmqdc9zE+NnVBnOBM5K/VRjQtmEjrBnqaQRaj9bHDojF1YZkjBWtqQhC/X3REYjradRYDsjasZ61ZuL/3m91IQ3fsZlkhqUbLkoTAUxMZl/TYZcITNiagllittbCRtTRZmx2ZRsCN7qy+ukfVX13KrXrFXqtTyOIpzBOVyCB9dQhztoQAsYIDzDK7w5D86L8+58LFsLTj5zCn/gfP4A12eM5w==</latexit>

<latexit sha1_base64="cDDKcc1CbMGzts1+sukUhEk2GSQ=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF71VMG2hCWWz3bZLN5uwOxFK6G/w4kERr/4gb/4bt20O2vpg4PHeDDPzolQKg6777ZQ2Nre2d8q7lb39g8Oj6vFJ2ySZZtxniUx0N6KGS6G4jwIl76aa0ziSvBNNbud+54lrIxL1iNOUhzEdKTEUjKKV/CC/D2b9as2tuwuQdeIVpAYFWv3qVzBIWBZzhUxSY3qem2KYU42CST6rBJnhKWUTOuI9SxWNuQnzxbEzcmGVARkm2pZCslB/T+Q0NmYaR7Yzpjg2q95c/M/rZTi8CXOh0gy5YstFw0wSTMj8czIQmjOUU0so08LeStiYasrQ5lOxIXirL6+T9lXdc+veQ6PWbBRxlOEMzuESPLiGJtxBC3xgIOAZXuHNUc6L8+58LFtLTjFzCn/gfP4AwR+Olw==</latexit>

q = p+Rr
p
<latexit sha1_base64="7A5TfgeyjyjViNzGAQupMAI3J3o=">AAACG3icbZDLSgMxFIYz9VbrbdSlm2BRhEqZKQXdCKVu7K4We4HOdMikaRuauZhkhDLMe7jxVdy4UMSV4MK3MdN2oa0HAl/+/xyS87sho0IaxreWWVldW9/Ibua2tnd29/T9g5YIIo5JEwcs4B0XCcKoT5qSSkY6ISfIcxlpu+Pr1G8/EC5o4N/JSUhsDw19OqAYSSU5eqlXuz+9gnGvFjrVpJCCU20k1rmiKk+gZeVSPyzAhtJ4enf0vFE0pgWXwZxDHsyr7uifVj/AkUd8iRkSomsaobRjxCXFjCQ5KxIkRHiMhqSr0EceEXY83S2BJ0rpw0HA1fElnKq/J2LkCTHxXNXpITkSi14q/ud1Izm4tGPqh5EkPp49NIgYlAFMg4J9ygmWbKIAYU7VXyEeIY6wVHGmIZiLKy9Dq1Q0jaJ5W85XyvM4suAIHIMzYIILUAE3oA6aAINH8AxewZv2pL1o79rHrDWjzWcOwZ/Svn4AkO2dSg==</latexit>

<latexit sha1_base64="YfVfBOFf+s95iOuKsTyOp3Wki7U=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSKxmWK27VXYJsEi8nFcjRHJa/BqOYpRFKwwTVuu+5ifEzqgxnAuelQaoxoWxKx9i3VNIItZ8tD52TK6uMSBgrW9KQpfp7IqOR1rMosJ0RNRO97i3E/7x+asJbP+MySQ1KtloUpoKYmCy+JiOukBkxs4Qyxe2thE2ooszYbEo2BG/95U3Sual6btVr1SqNWh5HES7gEq7Bgzo04B6a0AYGCM/wCm/Oo/PivDsfq9aCk8+cwx84nz/V44zm</latexit>

• Mass r
Z
<latexit sha1_base64="iFIHE1Yv6cEqltj9jGej1c/1sTc=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw3LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/Y64zo</latexit>
<latexit

m= ⇢(r)dV Volume integral of mass density {B}


<latexit sha1_base64="cmUlFg2joGzH8OedYz4vuKU6r2Y=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeiF48VTFtoQtlst+3SzSbsToQS+hu8eFDEqz/Im//GbZuDtj4YeLw3w8y8KJXCoOt+O6WNza3tnfJuZW//4PCoenzSNkmmGfdZIhPdjajhUijuo0DJu6nmNI4k70STu7nfeeLaiEQ94jTlYUxHSgwFo2glP8hvg1m/WnPr7gJknXgFqUGBVr/6FQwSlsVcIZPUmJ7nphjmVKNgks8qQWZ4StmEjnjPUkVjbsJ8ceyMXFhlQIaJtqWQLNTfEzmNjZnGke2MKY7NqjcX//N6GQ5vwlyoNEOu2HLRMJMEEzL/nAyE5gzl1BLKtLC3EjammjK0+VRsCN7qy+ukfVX33Lr30Kg1G0UcZTiDc7gED66hCffQAh8YCHiGV3hzlPPivDsfy9aSU8ycwh84nz+2dY6Q</latexit>

<latexit sha1_base64="ft09O/uMBDW9mCJwK1k9bdkJcX4=">AAAB+3icbVDLSgMxFM3UV62vsS7dBItQN2VGCroRCm5cVrAP6Awlk8m0oXkMSUYsQ3/FjQtF3Poj7vwb03YW2nogcDjnXu7JiVJGtfG8b6e0sbm1vVPereztHxweucfVrpaZwqSDJZOqHyFNGBWkY6hhpJ8qgnjESC+a3M793iNRmkrxYKYpCTkaCZpQjIyVhm6V38CACgMDNZZ1dQHj7tCteQ1vAbhO/ILUQIH20P0KYokzToTBDGk98L3UhDlShmJGZpUg0yRFeIJGZGCpQJzoMF9kn8Fzq8Qwkco+G2Oh/t7IEdd6yiM7yZEZ61VvLv7nDTKTXIc5FWlmiMDLQ0nGoJFwXgSMqSLYsKklCCtqs0I8RgphY+uq2BL81S+vk+5lw/ca/n2z1moWdZTBKTgDdeCDK9ACd6ANOgCDJ/AMXsGbM3NenHfnYzlacoqdE/AHzucPH4STJA==</latexit>

• Center of mass
Z
1
q̄ = q(r)⇢(r)dV Weighted average of the density
m <latexit sha1_base64="qL8Cnlpi3q28tz5QCm9kpSnN1WM=">AAACD3icbVDLSgMxFM34rPU16tJNsCh1U2akoBuh4MZlBfuAzlAymUwbmkymSUYoQ//Ajb/ixoUibt2682/MtLPQ1gMhh3Pu5d57goRRpR3n21pZXVvf2Cxtlbd3dvf27YPDthKpxKSFBROyGyBFGI1JS1PNSDeRBPGAkU4wusn9zgORior4Xk8S4nM0iGlEMdJG6ttnXoBkNp7Ca+hFEmGXQ4/GGo6r8hx6cijyP2z37YpTc2aAy8QtSAUUaPbtLy8UOOUk1pghpXquk2g/Q1JTzMi07KWKJAiP0ID0DI0RJ8rPZvdM4alRQhgJaZ7ZZab+7sgQV2rCA1PJkR6qRS8X//N6qY6u/IzGSapJjOeDopRBLWAeDgypJFiziSEIS2p2hXiITCzaRFg2IbiLJy+T9kXNdWruXb3SqBdxlMAxOAFV4IJL0AC3oAlaAINH8AxewZv1ZL1Y79bHvHTFKnqOwB9Ynz/2Ipqj</latexit>

If origin of {B} coincides with center of mass


Z
p = q̄ ) r⇢(r)dV = 0
<latexit sha1_base64="RJle5RVM2TvHeqbC6gn7n139tPw=">AAACHnicbVBNS8NAEN3Ur1q/qh69LBahXkoiFb0UCl48VrEf0JQy2WzbpZtsurtRSugv8eJf8eJBEcGT/hu3bQ7a+mDg8d4MM/O8iDOlbfvbyqysrq1vZDdzW9s7u3v5/YOGErEktE4EF7LlgaKchbSumea0FUkKgcdp0xteTf3mPZWKifBOjyPaCaAfsh4joI3UzZ9HFdcDmYwm7igGH7u3rD/QIKV4SAUWaiyxKweiKE+x38AVbHfzBbtkz4CXiZOSAkpR6+Y/XV+QOKChJhyUajt2pDsJSM0Ip5OcGysaARlCn7YNDSGgqpPM3pvgE6P4uCekKXPMTP09kUCg1DjwTGcAeqAWvan4n9eOde+yk7AwijUNyXxRL+ZYCzzNCvtMUqL52BAgkplbMRmABKJNojkTgrP48jJpnJUcu+TclAvVchpHFh2hY1REDrpAVXSNaqiOCHpEz+gVvVlP1ov1bn3MWzNWOnOI/sD6+gGw/KFx</latexit>
Fundamentals of Dynamics
Rigid Body Dynamics 1 2
Jzz = mr
2
• Tensor of Inertia Z
<latexit sha1_base64="u+0dA652q3uBs7hk6p40nPWaKD8=">AAACAHicbVDLSsNAFJ34rPEVdeHCzWARXJWkFHQjFNyIqwr2AW0Mk+mkHTozCTMToQ3d+CtuXCji1s9w5984abPQ1gMXDufcy733hAmjSrvut7Wyura+sVnasrd3dvf2nYPDlopTiUkTxyyWnRApwqggTU01I51EEsRDRtrh6Dr3249EKhqLez1OiM/RQNCIYqSNFDjHt0E2mUzhFexFEmGvCrl8qNp24JTdijsDXCZeQcqgQCNwvnr9GKecCI0ZUqrruYn2MyQ1xYxM7V6qSILwCA1I11CBOFF+NntgCs+M0odRLE0JDWfq74kMcaXGPDSdHOmhWvRy8T+vm+ro0s+oSFJNBJ4vilIGdQzzNGCfSoI1GxuCsKTmVoiHyAShTWZ5CN7iy8ukVa14bsW7q5XrtSKOEjgBp+AceOAC1MENaIAmwGAKnsEreLOerBfr3fqYt65YxcwR+APr8wffA5ST</latexit>

J= ⇢(r)S(r)2 dV
Z
= ⇢(r)(rT rI3 rrT )dV
2 2 3
Z ry + rz2 r x ry r x rz
= ⇢(r) 4 rx ry rx2 + rz2 ry rz 5 dV
r x rz ry r z rx2 + ry2
2 3 1
Jxx Jxy Jxz Jxx = Jyy = m(3r2 + h2 )
12
= 4Jxy Jyy Jyz 5 Jxy = Jxz = Jyz = 0
Jxz Jyz Jzz
<latexit sha1_base64="uYpPNtXH+C5xix6ddjF0cfXUuWU=">AAADU3icbVNdb9MwFHVaPkZgrINHXq6oqDqhVsmYBC9Ik3iBPQ2xdpPqLnIct7WWOJHtoCZR/iNC4oE/wgsP4DRh6weWYp+cc67vjX3jJyFX2nF+Wq32vfsPHu49sh8/2X960Dl8NlZxKikb0TiM5ZVPFAu5YCPNdciuEslI5Ifs0r/5UOmXX5lUPBYXOkvYNCJzwWecEm0o79DiZ9B7DwPMhQYsF3FfHsEXM10fQzAGjG2o9A25L68vJHzy3sAApMFHjXPbZ2Ofzbko/IhoyZcl2NLLzL6vQXq5WXswkN7SvGTQa1COMdh3rJmXawF1RLbly9fojRCTq7JhJoLbGoLxqtCdys68YmnWHlQg+wfystpgncoMaNCdmJe3VA3yWtvIbHudrjN0VgN2gduALmrGudf5joOYphETmoZEqYnrJHpaEKk5DVlp41SxhNAbMmcTAwWJmJoWq54o4ZVhApjF0jzmTlbsekRBIqWyyDdOU+BCbWsV+T9tkurZu2nBRZJqJmidaJaGoGOoGgwCLhnVYWYAoZKbWoEuiCRUmzasDsHd/uRdMD4eus7Q/XzSPT1pjmMPvUAvUR+56C06RR/RORohan2zfll/Wqj1o/W7bf6S2tqympjnaGO09/8CXH7/DA==</latexit>

<latexit sha1_base64="C4jQtV2TopuYKD1zx2ANj9wFTKA=">AAACQXicbVBLS8MwAE7na9bX1KOX4FAmwminoJfBwIt4muAesM6SZukWTB8kqawr/Wte/AfevHvxoIhXL6ZbD+r8IPDxPUjyOSGjQhrGs1ZYWFxaXimu6mvrG5tbpe2dtggijkkLByzgXQcJwqhPWpJKRrohJ8hzGOk4dxeZ37knXNDAv5FxSPoeGvrUpRhJJdml7pWdjMcprENF4jiFh3VouRxhMzFrKfQqJ/y2djy6rR1Zlp5l4zw7nkyzWWuSSYbyI5tmGrGprtulslE1poDzxMxJGeRo2qUnaxDgyCO+xAwJ0TONUPYTxCXFjKS6FQkSInyHhqSnqI88IvrJdIEUHihlAN2Aq+NLOFV/NhLkCRF7jkp6SI7EXy8T//N6kXTP+wn1w0gSH88uciMGZQCzOeGAcoIlixVBmFP1VohHSO0n1ejZCObfL8+Tdq1qGlXz+rTcOM3nKII9sA8qwARnoAEuQRO0AAYP4AW8gXftUXvVPrTPWbSg5Z1d8Ava1zdUTas2</latexit>
ui = e i

Principal axes are given by the eigenvalues of J, Jui = ↵i ui <latexit sha1_base64="c6r0Ed3FDrFXLo7NMF7/j56+Ky8=">AAAB/nicbZDLSgMxFIbPeK31Niqu3ASL4KrMSEE3QsGNuKpgL9AOw5k004ZmLiQZoQwFX8WNC0Xc+hzufBszbRfa+kPgy3/OISd/kAqutON8Wyura+sbm6Wt8vbO7t6+fXDYUkkmKWvSRCSyE6BigsesqbkWrJNKhlEgWDsY3RT19iOTiifxgx6nzItwEPOQU9TG8u3jO5L5nFyTHop0iAbNtezbFafqTEWWwZ1DBeZq+PZXr5/QLGKxpgKV6rpOqr0cpeZUsEm5lymWIh3hgHUNxhgx5eXT9SfkzDh9EibSnFiTqft7IsdIqXEUmM4I9VAt1grzv1o30+GVl/M4zTSL6eyhMBNEJ6TIgvS5ZFSLsQGkkptdCR2iRKpNYkUI7uKXl6F1UXWdqntfq9Rr8zhKcAKncA4uXEIdbqEBTaCQwzO8wpv1ZL1Y79bHrHXFms8cwR9Znz/045Qk</latexit>

If the body rotates about a principal axis, angular momentum keeps


the direction of rotation.
Fundamentals of Dynamics
Rigid Body Dynamics
• Newton’s 2nd law
• Conservation of momentum (holds in inertial frames)
• Translational motion
• Linear momentum
mṗ
<latexit sha1_base64="3Fjgei/HrPxGvobN+Mxlmo9jc1k=">AAAB7nicbVDLSgMxFL1TX7W+qi7dBIvgqsyIoMuCG5cV7APaoWTSTBuaZIbkjlCGfoQbF4q49Xvc+Tem7Sy09UDgcM495N4TpVJY9P1vr7SxubW9U96t7O0fHB5Vj0/aNskM4y2WyMR0I2q5FJq3UKDk3dRwqiLJO9Hkbu53nrixItGPOE15qOhIi1gwik7qqP4wQZIOqjW/7i9A1klQkBoUaA6qXy7IMsU1Mkmt7QV+imFODQom+azSzyxPKZvQEe85qqniNswX687IhVOGJE6MexrJQv2dyKmydqoiN6koju2qNxf/83oZxrdhLnSaIdds+VGcSYIJmd9OhsJwhnLqCGVGuF0JG1NDGbqGKq6EYPXkddK+qgd+PXi4rjWuizrKcAbncAkB3EAD7qEJLWAwgWd4hTcv9V68d+9jOVryiswp/IH3+QMMo49S</latexit>

• Conservation of linear momentum


d
(mṗ) = mp̈ = I f Applied forces, expressed in {I}
dt
<latexit sha1_base64="msHMGq4upQwKYkRPmSzplihDiRE=">AAACFHicbZDLSsNAFIYnXmu9RV26GSxCRSiJFHQjFNzoroK9QFvLZDJph04uzJwIJeQh3Pgqblwo4taFO9/GSZqFth4Y+OY/l5nzO5HgCizr21haXlldWy9tlDe3tnd2zb39tgpjSVmLhiKUXYcoJnjAWsBBsG4kGfEdwTrO5CrLdx6YVDwM7mAasYFPRgH3OCWgpaF52vckoYmbJi6kuOrjvhsCjk7wJc44v2hO7m+8dGhWrJqVB14Eu4AKKqI5NL/0NBr7LAAqiFI924pgkBAJnAqWlvuxYhGhEzJiPY0B8ZkaJPlSKT7Wiou9UOoTAM7V3x0J8ZWa+o6u9AmM1XwuE//L9WLwLgYJD6IYWEBnD3mxwBDizCHscskoiKkGQiXXf8V0TLRLoH0saxPs+ZUXoX1Ws62afVuvNOqFHSV0iI5QFdnoHDXQNWqiFqLoET2jV/RmPBkvxrvxMStdMoqeA/QnjM8f6Tqcww==</latexit>

• Transformation to body frame


d
(mRv) = I f
dt
mRv̇ + mRS(!)v = R I f
<latexit sha1_base64="Ebc7gZtEb0SXk3WjMrEe3IblXpk=">AAACY3icbVFdSxtBFJ1draaxrWvaNxEuDS2RhrBbBEUoCL60bxqNCtkYZmdn4+DM7nbmbiAu+yd9880X/4eTGPHzwsDhfHBnzkS5FAZ9/8ZxFxY/LC3XPtZXPn3+suqtNU5MVmjGeyyTmT6LqOFSpLyHAiU/yzWnKpL8NLrcn+qnY66NyNJjnOR8oOgoFYlgFC019K7CRFNWxlUZYwUt1R1vws8/UJ7/S6owrKsuhHGGMIZfoKB71AozxUd0czw1dcP2k/GZ7aUraYf/CxoDJLBrM+fHj6mh1/Q7/mzgLQjmoEnmczD0ru0SViieIpPUmH7g5zgoqUbBJK/qYWF4TtklHfG+hSlV3AzKWUcV/LBMDEmm7UkRZuzzREmVMRMVWaeieGFea1PyPa1fYLIzKEWaF8hT9rAoKSRgBtPCIRaaM5QTCyjTwt4V2AW1paP9lrotIXj95Lfg5Hcn8DvB4VZzb2teR42sk++kRQKyTfbIX3JAeoSRW2fJWXU8585dcRvutwer68wzX8mLcTfuARPssEg=</latexit>
mv̇ + mS(!)v = f, f := RT I f
Fundamentals of Dynamics
Rigid Body Dynamics
• Newton’s 2nd law
• Conservation of momentum (holds in inertial frames)
• Rotational motion
• Angular momentum
RJ!
<latexit sha1_base64="5xfL33zWBVO7/NNIHnr7lfW/dAo=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoPgKexKQI8BL+IpinlgsoTZyWwyZB7LzKwQlvyFFw+KePVvvPk3TpI9aGJBQ1HVTXdXlHBmrO9/e4W19Y3NreJ2aWd3b/+gfHjUMirVhDaJ4kp3ImwoZ5I2LbOcdhJNsYg4bUfj65nffqLaMCUf7CShocBDyWJGsHXS4z26RT0l6BD3yxW/6s+BVkmQkwrkaPTLX72BIqmg0hKOjekGfmLDDGvLCKfTUi81NMFkjIe066jEgpowm188RWdOGaBYaVfSorn6eyLDwpiJiFynwHZklr2Z+J/XTW18FWZMJqmlkiwWxSlHVqHZ+2jANCWWTxzBRDN3KyIjrDGxLqSSCyFYfnmVtC6qgV8N7mqVei2PowgncArnEMAl1OEGGtAEAhKe4RXePOO9eO/ex6K14OUzx/AH3ucPc/WQEQ==</latexit>

• Conservation of angular momentum


d
(RJ!) = RJ !˙ + RS(!)J! = I ⌧ Applied torques, expressed in {I}
dt
• Transformation to body frame
<latexit sha1_base64="fvLciZnj+iiIizpcnkbIqeGyNrQ=">AAACNXicbVDLSgMxFM34rPU16tJNsAgVocxIQTdCwY2Ki/roA9paMplMG5p5kNwRyjA/5cb/cKULF4q49RdMX6CtFwIn55x7k3ucSHAFlvVqzM0vLC4tZ1ayq2vrG5vm1nZVhbGkrEJDEcq6QxQTPGAV4CBYPZKM+I5gNad3NtBrD0wqHgZ30I9YyyedgHucEtBU27xqepLQxE0TF1Kcv8GXuBn6rEMO8Cke3twQRgw+1MRtfiJPjNqX3F80gcRp28xZBWtYeBbYY5BD4yq3zWc9nsY+C4AKolTDtiJoJUQCp4Kl2WasWERoj3RYQ8OA+Ey1kuHWKd7XjIu9UOoTAB6yvzsS4ivV9x3t9Al01bQ2IP/TGjF4J62EB1EMLKCjh7xYYAjxIELscskoiL4GhEqu/4ppl+gYQQed1SHY0yvPgupRwbYK9nUxVyqO48igXbSH8shGx6iEzlEZVRBFj+gFvaMP48l4Mz6Nr5F1zhj37KA/ZXz/ANX2qGM=</latexit>

J !˙ + S(!)J! = ⌧, <latexit sha1_base64="KNNOHB/WFMoqQn8pJ9oLtwOF4Zs=">AAACLHicbZDLSgMxFIYz9VbrrerSTbAIFaXMSEE3QqEbdVUvtUKnLWfStA3NXEzOCGXoA7nxVQRxYRG3PofpZeHtQODL/+dwcn4vkkKjbY+s1Nz8wuJSejmzsrq2vpHd3LrVYawYr7JQhurOA82lCHgVBUp+FykOvid5zeuXx37tgSstwuAGBxFv+NANREcwQCO1suUL6rZDdEOfd4Ee0Ov8FPepMabiKXUR4kP3Pob2BI1y1bxxD5Pm+fg6bGVzdsGeFP0LzgxyZFaVVvbFzGSxzwNkErSuO3aEjQQUCib5MOPGmkfA+tDldYMB+Fw3ksmyQ7pnlDbthMqcAOlE/d6RgK/1wPfMSx+wp397Y/E/rx5j56SRiCCKkQdsOqgTS4ohHSdH20JxhnJgAJgS5q+U9UABQ5NvxoTg/F75L9weFRy74FwWc6XiLI402SG7JE8cckxK5IxUSJUw8kieyRsZWU/Wq/VufUyfpqxZzzb5UdbnF8eapXo=</latexit>


⌧ = RT I ⌧
Fundamentals of Dynamics
Rigid Body Equations of Motion
• Goal achieved: to derive the equations of motion for a 3-D rigid body

• Kinematics

<latexit sha1_base64="e6CySsA1TuyZPt4TZnKhaucfCJA=">AAAB83icbVDLSgMxFL1TX7W+qi7dBIvgqsxIQTdCwY3LKvYB7VAyaaYNzcyE5E6hDP0NNy4UcevPuPNvTNtZaOuBwOGce7g3J1BSGHTdb6ewsbm1vVPcLe3tHxwelY9PWiZJNeNNlshEdwJquBQxb6JAyTtKcxoFkreD8d3cb0+4NiKJn3CquB/RYSxCwShaqdcbJEgUuSWPZNIvV9yquwBZJ15OKpCj0S9/2ThLIx4jk9SYrucq9DOqUTDJZ6VeariibEyHvGtpTCNu/Gxx84xcWGVAwkTbFyNZqL8TGY2MmUaBnYwojsyqNxf/87ophjd+JmKVIo/ZclGYSoIJmRdABkJzhnJqCWVa2FsJG1FNGdqaSrYEb/XL66R1VfXcqvdQq9RreR1FOINzuAQPrqEO99CAJjBQ8Ayv8Oakzovz7nwsRwtOnjmFP3A+fwBKwZB8</latexit>
ṗ = Rv
Ṙ = RS(!) {B}
p
<latexit sha1_base64="rkoaJRDmEoeh6XeKQVSNZBpyG74=">AAAB/XicbVDLSgMxFM34rPU1PnZugkWomzIjBd0IBTcu66MPaIeSSe+0oclkSDJCLcVfceNCEbf+hzv/xrSdhbYeuHA4596bmxMmnGnjed/O0vLK6tp6biO/ubW9s+vu7de1TBWFGpVcqmZINHAWQ80ww6GZKCAi5NAIB1cTv/EASjMZ35thAoEgvZhFjBJjpY572O5Kg2/xpa27YlsK6JHTjlvwSt4UeJH4GSmgDNWO+2XX0FRAbCgnWrd8LzHBiCjDKIdxvp1qSAgdkB60LI2JAB2MpteP8YlVujiSylZs8FT9PTEiQuuhCG2nIKav572J+J/XSk10EYxYnKQGYjp7KEo5NhJPosBdpoAaPrSEUMXsrZj2iSLU2MDyNgR//suLpH5W8r2Sf1MuVMpZHDl0hI5REfnoHFXQNaqiGqLoET2jV/TmPDkvzrvzMWtdcrKZA/QHzucPyDmTcg==</latexit>

• Dynamics {I}

mv̇ = S(!)mv + f
<latexit sha1_base64="vEQJPeMeUkfuk7uR/+3zqHUf/Fo=">AAACMHicbVDLSgMxFM34rPU16tJNsAhKscxIQTdCwYXSVUXbCp1SMmmmhiYzQ3KnUEo/yY2fohsFRdz6FWbaAR/1QOBwzrlJ7vFjwTU4zos1N7+wuLScW8mvrq1vbNpb2w0dJYqyOo1EpG59opngIasDB8FuY8WI9AVr+v3z1G8OmNI8Cm9gGLO2JL2QB5wSMFLHvpBeNwI8wGf46PrAiyTrkUMsjVDEgeflq6k9ldMI/s5UM7WIPSBJxy44JWcCPEvcjBRQhlrHfjQ300SyEKggWrdcJ4b2iCjgVLBx3ks0iwntkx5rGRoSyXR7NFl4jPeN0sVBpMwJAU/UnxMjIrUeSt8kJYE7/ddLxf+8VgLBaXvEwzgBFtLpQ0EiMEQ4bQ93uWIUxNAQQhU3f8X0jihCwXScNyW4f1eeJY3jkuuU3KtyoVLO6sihXbSHDpCLTlAFXaIaqiOK7tETekVv1oP1bL1bH9PonJXN7KBfsD6/AEmopXc=</latexit>
J !˙ = S(!)J! + ⌧

1st question: what is the input u?


f = f (p, R, v, !, u) = ?
2nd question: what are the generated forces and moments?
n = n(p, R, v, !, u) = ?
<latexit sha1_base64="cD6qmufzVeRAGUuBbqbXCOr7bb4=">AAACInicbVDLSsNAFJ3UV42vqEs3waJUCCWRgroQC25cVrEPaEKZTCft0MkkzEwKJfRb3Pgrblwo6krwY5y0WWjbAxcO59zLvff4MSVC2va3VlhZXVvfKG7qW9s7u3vG/kFTRAlHuIEiGvG2DwWmhOGGJJLidswxDH2KW/7wNvNbI8wFidijHMfYC2GfkYAgKJXUNa6C02vXCsqx9WCNLDcKcR9ayZnSblxXZ5nJlpm63jVKdsWewlwkTk5KIEe9a3y6vQglIWYSUShEx7Fj6aWQS4IonuhuInAM0RD2cUdRBkMsvHT64sQ8UUrPDCKuiklzqv6dSGEoxDj0VWcI5UDMe5m4zOskMrj0UsLiRGKGZouChJoyMrO8zB7hGEk6VgQiTtStJhpADpFUqWYhOPMvL5LmecWxK859tVSr5nEUwRE4BmXggAtQA3egDhoAgSfwAt7Au/asvWof2testaDlM4fgH7SfX6lHn1k=</latexit>
Fundamentals of Control
Motivation for Control Objetives

Trajectory Tracking:

• Track a trajectory

• Realistic model

• Robustness to disturbances

• Actuation bounds

• Large basin of attraction


Fundamentals of Control
Motivation for Control Objetives
Example with quadrotors: Underactuated system: 12 states, 4 inputs
At rest Accelerating
Control objective:

Steer the position to


a desired trajectory

using as inputs.

Can only prescribe 4 states:


e.g. 3D position and rotation about z-axis Desired output
Fundamentals of Control
Motivation for Control Objetives
Quadrotor forces and moments
Two pairs of counter-rotating rotors X
T = Ti
<latexit sha1_base64="Xqu0zNZiI8pZ29n8MEiBZo8+9HM=">AAACBnicbVDLSsNAFJ3UV62vqEsRBovgqiRS0I1QcOOyQl/QhDCZTNqhM0mYmQglZOXGX3HjQhG3foM7/8ZJmoW2HrhwOOfemXuPnzAqlWV9G7W19Y3Nrfp2Y2d3b//APDwayDgVmPRxzGIx8pEkjEakr6hiZJQIgrjPyNCf3Rb+8IEISeOop+YJcTmaRDSkGCkteeZp5pSPZIIEOezl8AY6MuUehT2PNjyzabWsEnCV2BVpggpdz/xyghinnEQKMyTl2LYS5WZIKIoZyRtOKkmC8AxNyFjTCHEi3azcIIfnWglgGAtdkYKl+nsiQ1zKOfd1J0dqKpe9QvzPG6cqvHYzGiWpIhFefBSmDKoYFpnAgAqCFZtrgrCgeleIp0ggrHRyRQj28smrZHDZsq2Wfd9udtpVHHVwAs7ABbDBFeiAO9AFfYDBI3gGr+DNeDJejHfjY9FaM6qZY/AHxucP+YWYFQ==</latexit>
i

<latexit sha1_base64="NLPrMw6SX8eoaJO1Jz+QeajCtJw=">AAACC3icbVDLSsNAFJ3UV62vqEs3g0WoC0tSCroRCm5cVugL2hAm00k7dDIJMxOxhOzd+CtuXCji1h9w5984SbPQ1gMXDufcO3Pv8SJGpbKsb6O0tr6xuVXeruzs7u0fmIdHPRnGApMuDlkoBh6ShFFOuooqRgaRICjwGOl7s5vM798TIWnIO2oeESdAE059ipHSkmueJqP8kcRjMUkhdx9SeA1ZreM24AXsuM3zimtWrbqVA64SuyBVUKDtml+jcYjjgHCFGZJyaFuRchIkFMWMpJVRLEmE8AxNyFBTjgIinSRfI4VnWhlDPxS6uIK5+nsiQYGU88DTnQFSU7nsZeJ/3jBW/pWTUB7FinC8+MiPGVQhzIKBYyoIVmyuCcKC6l0hniKBsNLxZSHYyyevkl6jblt1+65ZbTWLOMrgBJyCGrDBJWiBW9AGXYDBI3gGr+DNeDJejHfjY9FaMoqZY/AHxucP2yKY5g==</latexit>
nx = l(T2 T4 )

ny = l(T1
<latexit sha1_base64="2OQYGTa75JtUp4cfoSE2xghhoXA=">AAACC3icbVDLSsNAFJ3UV62vqEs3Q4tQF5ZEC7oRCm5cVugL2hAm00k7dDIJMxMhhO7d+CtuXCji1h9w5984SbPQ1gMXDufcO3Pv8SJGpbKsb6O0tr6xuVXeruzs7u0fmIdHPRnGApMuDlkoBh6ShFFOuooqRgaRICjwGOl7s9vM7z8QIWnIOyqJiBOgCac+xUhpyTWr6Sh/JPVYTOaQu8kc3kBW77g2PIcd9/Ks4po1q2HlgKvELkgNFGi75tdoHOI4IFxhhqQc2laknBQJRTEj88ooliRCeIYmZKgpRwGRTpqvMYenWhlDPxS6uIK5+nsiRYGUSeDpzgCpqVz2MvE/bxgr/9pJKY9iRThefOTHDKoQZsHAMRUEK5ZogrCgeleIp0ggrHR8WQj28smrpHfRsK2Gfd+stZpFHGVwAqqgDmxwBVrgDrRBF2DwCJ7BK3gznowX4934WLSWjGLmGPyB8fkD2aWY5Q==</latexit>
T3 )

Ti = cT !i2
Qi = ( 1)i+1 cQ !i2
cQ
Qi = ( 1)i+1 Ti
cT
cQ
nz = (T1 T2 + T3 + T4 )
cT
<latexit sha1_base64="/c4yXDrGkEcWAJoWCs0VGeIzQ2M=">AAACjXicbVFdb9MwFHUCGyOwrcAjL1dUoE7TqrgU8SFAk3iAx1VKt0lNFznuTWfNcSLbQSpR/g2/iDf+DU7ah9HtSr46Ovcc+/retJTC2DD86/kPHu7sPtp7HDx5un9w2Hv2/NwUleY45YUs9GXKDEqhcGqFlXhZamR5KvEivfnW1i9+ojaiUJFdlTjP2VKJTHBmHZX0fkeJgDdfgCcRxEWOS5aIq1EcB5M1PzihR1e1OKaNk0xuSQDuFcWZZrx20salqIH2eies467VOpUVNqCSX03r2xYPooTCifOM4Njlt10eHwVJrx8Owy7gLqAb0CebOEt6f+JFwascleWSGTOjYWnnNdNWcIlNEFcGS8Zv2BJnDiqWo5nXXYsNvHbMArJCu6MsdOxtR81yY1Z56pQ5s9dmu9aS99Vmlc0+zGuhysqi4uuHskqCLaBdDSyERm7lygHGtXC9Ar9mbkTWLbAdAt3+8l1wPhrScEgn4/7peDOOPfKSvCIDQsl7ckp+kDMyJdwLvND76H3yD/13/mf/61rqexvPC/Jf+N//AdonvHE=</latexit>
Fundamentals of Control
Motivation for Control Objetives
Quadrotor forces and moments
• Thrust T and moments nx, ny, and nz
expressed in {B}
• Rigid-body dynamics expressed in {B}
• Near hover condition: negligible aerodynamic drag

f= T e3 + mgRT e3
mv̇ = S(!)mv + f 2 3 2 3 3 2
0 0 nx
J !˙ = S(!)J! + n = 4 0 5+I R4 0 5
B
n = 4 ny 5
T mg
<latexit sha1_base64="6XY2S16oO+b5K/dVW8JPkMckIlk=">AAACLXicbVDLSsNAFJ34rPFVdelmsAiVYkmkoBuhoAvpqqJ9QBPKZDpph84kYWZSKKE/5MZfEcFFRdz6G07agNp6YeBwzrn3zj1exKhUljU1VlbX1jc2c1vm9s7u3n7+4LApw1hg0sAhC0XbQ5IwGpCGooqRdiQI4h4jLW94k+qtERGShsGjGkfE5agfUJ9ipDTVzd9ypxcqOILX8Pyh6ISc9NEZ5JooQd9xzFoqz+nUAn88tYwtQT2mYJWtWcFlYGegALKqd/OveiyOOQkUZkjKjm1Fyk2QUBQzMjGdWJII4SHqk46GAeJEusns2gk81UwP+qHQL1Bwxv7uSBCXcsw97eRIDeSilpL/aZ1Y+VduQoMoViTA80V+zKAKYRod7FFBsGJjDRAWVP8V4gESCCsdsKlDsBdPXgbNi7Jtle37SqFayeLIgWNwAorABpegCu5AHTQABk/gBUzBu/FsvBkfxufcumJkPUfgTxlf38BTpCE=</latexit>

<latexit sha1_base64="7qGCk7J2PSE8j7CEnEYMdB8pTYE=">AAACXHicbVFbS8MwGE3r1Lk5nQq++BIciiCOVgV9EURf9G3KbrBuJc2+bmFpWpJUHGV/0jdf/CuaXRCdfiRwcs75cjkJEs6Udpx3y17Jra6t5zcKxc3S1nZ5Z7ep4lRSaNCYx7IdEAWcCWhopjm0EwkkCji0gtH9VG+9gFQsFnU9TqAbkYFgIaNEG8ovqxAf3+CzOgb/Ap/iaICfe7OF5xWM4AUwYCILIqIle504nmfGWd0D0f8mTVvWu/Mfnyf/282mv/wFv1xxqs6s8F/gLkAFLarml9+8fkzTCISmnCjVcZ1EdzMiNaMcJgUvVZAQOiID6BgoSASqm83CmeAjw/RxGEszhcYz9mdHRiKlxlFgnOaCQ7WsTcn/tE6qw+tuxkSSahB0flCYcqxjPE0a95kEqvnYAEIlM3fFdEgkodr8xzQEd/nJf0HzvOo6VffpsnJ7uYgjjw7QITpBLrpCt+gB1VADUfSOPq28tWF92Dm7aJfmVtta9OyhX2XvfwEx8rJh</latexit>
nz
<latexit sha1_base64="xqlZF1TLmr58ch8B3xHDyPlz2ag=">AAACGHicbVDLSgMxFM3UV62vUZdugkVxVWekoBuh4MZlBfuAThky6W0bmskMSUZah36GG3/FjQtF3Hbn35hpi2jrgYTDOfdy7z1BzJnSjvNl5VZW19Y38puFre2d3T17/6CuokRSqNGIR7IZEAWcCahppjk0YwkkDDg0gsFN5jceQCoWiXs9iqEdkp5gXUaJNpJvnwt8eo29AHpMpEFItGTDsfCHnif8UfY9eiA6P07Bt4tOyZkCLxN3TopojqpvT7xORJMQhKacKNVynVi3UyI1oxzGBS9REBM6ID1oGSpICKqdTg8b4xOjdHA3kuYJjafq746UhEqNwsBUmgX7atHLxP+8VqK7V+2UiTjRIOhsUDfhWEc4Swl3mASq+cgQQiUzu2LaJ5JQbbLMQnAXT14m9YuS65Tcu3KxUp7HkUdH6BidIRddogq6RVVUQxQ9oRf0ht6tZ+vV+rA+Z6U5a95ziP7AmnwDdOSgog==</latexit>

• Exercise: express the translational dynamics in {I}


mp̈ = ?
<latexit sha1_base64="EDIZLlJDg/KrUWcaijBLJegAqs8=">AAAB9HicbVBNSwMxEJ2tX7V+VT16CRbBg5RdKehFLHjxWMF+QHcp2Wy2Dc0ma5ItlNLf4cWDIl79Md78N6btHrT1wcDjvRlm5oUpZ9q47rdTWFvf2Nwqbpd2dvf2D8qHRy0tM0Vok0guVSfEmnImaNMww2knVRQnIaftcHg389sjqjST4tGMUxokuC9YzAg2VgoSP4qkQSm68S9ue+WKW3XnQKvEy0kFcjR65S8/kiRLqDCEY627npuaYIKVYYTTacnPNE0xGeI+7VoqcEJ1MJkfPUVnVolQLJUtYdBc/T0xwYnW4yS0nQk2A73szcT/vG5m4utgwkSaGSrIYlGccWQkmiWAIqYoMXxsCSaK2VsRGWCFibE5lWwI3vLLq6R1WfXcqvdQq9RreRxFOIFTOAcPrqAO99CAJhB4gmd4hTdn5Lw4787HorXg5DPH8AfO5w9QmpEW</latexit>
Fundamentals of Control
Motivation for Control Objetives
Quadrotor forces and moments
• Translational dynamics
ṗ = Rv
or mp̈ = T Re3 + mge3
mv̇ = S(!)mv T e3 + mgRT e3
<latexit sha1_base64="hzKJJd6bjNeUPLLbvv3tTNXaL0k=">AAACA3icbZDLSgMxFIYz9VbrbdSdboJFEMQyowXdCAU3Lqv0Bu0wZDKZNjTJDElGKEPBja/ixoUibn0Jd76NaTsLbf0h8PGfczg5f5AwqrTjfFuFpeWV1bXiemljc2t7x97da6k4lZg0ccxi2QmQIowK0tRUM9JJJEE8YKQdDG8m9fYDkYrGoqFHCfE46gsaUYy0sXz7gPfCMNYwgdfwrHFP/At4CnkfGvDtslNxpoKL4OZQBrnqvv3VC2OcciI0Zkiprusk2suQ1BQzMi71UkUShIeoT7oGBeJEedn0hjE8Nk4Io1iaJzScur8nMsSVGvHAdHKkB2q+NjH/q3VTHV15GRVJqonAs0VRyqCO4SQQGFJJsGYjAwhLav4K8QBJhLWJrWRCcOdPXoTWecV1Ku5dtVyr5nEUwSE4AifABZegBm5BHTQBBo/gGbyCN+vJerHerY9Za8HKZ/bBH1mfPzhulUI=</latexit>

<latexit sha1_base64="he6j3Dy5v6K/zSEvJ1p52iegwmk=">AAACKHicbZDLSgMxFIYzXmu9VV26OVgURSwzKuhGLLhxWbWtQqeWTHraBpOZIckUSunjuPFV3Igo4tYnMZ12odYDgT/fuSTnD2LBtXHdT2dqemZ2bj6zkF1cWl5Zza2tV3WUKIYVFolI3QVUo+AhVgw3Au9ihVQGAm+Dh4th/raLSvMoLJtejHVJ2yFvcUaNRY3cud+MDMSwcwbX0AXfz8qUdIfk4GbXjyS26R5ISw6gDNg4gn2Qbbi+Ty+NXN4tuGnApPDGIk/GUWrkXu18lkgMDRNU65rnxqbep8pwJnCQ9RONMWUPtI01K0MqUdf76aID2LakCa1I2RMaSOnPjj6VWvdkYCslNR39NzeE/+VqiWmd1vs8jBODIRs91EoEmAiGrkGTK2RG9KygTHH7V2Adqigz1tusNcH7u/KkqB4WPLfgXR3ni8djOzJkk2yRXeKRE1Ikl6REKoSRR/JM3si78+S8OB/O56h0yhn3bJBf4Xx9A3psoKc=</latexit>

• Rotational dynamics
Ṙ = RS(!)
J !˙ = <latexit sha1_base64="z909kFAEfOHpwNvkkWR/4OXBQZk=">AAACJ3icbVDLSgMxFM3UVx1fVZdugkWpiGVGCrpRCm6kq1rtAzpDyaRpG5rJDElGKEP/xo2/4kZQEV36J2baAbX1QODknHtvco8XMiqVZX0amYXFpeWV7Kq5tr6xuZXb3mnIIBKY1HHAAtHykCSMclJXVDHSCgVBvsdI0xteJX7znghJA36nRiFxfdTntEcxUlrq5C6dbqBgDR5ewNptwQl80kdH0HHMSmJM74l5An/cSiofQz0gbxWtCeA8sVOSBymqndyLnosjn3CFGZKybVuhcmMkFMWMjE0nkiREeIj6pK0pRz6RbjzZcwwPtNKFvUDowxWcqL87YuRLOfI9XekjNZCzXiL+57Uj1Tt3Y8rDSBGOpw/1IgZVAJPQYJcKghUbaYKwoPqvEA+QQFjpaE0dgj278jxpnBZtq2jflPLlUhpHFuyBfVAANjgDZXANqqAOMHgAT+AVvBmPxrPxbnxMSzNG2rML/sD4+gZsNqHx</latexit>
S(!)J! + n

• Compact form
ẋ = f (x, u) x = (p, v, R, !)
<latexit sha1_base64="ZI7YLkyh5wM1X7heHFi5QTqkbmI=">AAAB+XicbVDLSsNAFJ3UV62vqEs3g0WoICWRgm6EghuXFewD2lAm00k7dDIJMzelJfRP3LhQxK1/4s6/cdJmoa0HLhzOuXfm3uPHgmtwnG+rsLG5tb1T3C3t7R8cHtnHJy0dJYqyJo1EpDo+0UxwyZrAQbBOrBgJfcHa/vg+89sTpjSP5BPMYuaFZCh5wCkBI/VtuzeIAE/xHQ4q06vkstS3y07VWQCvEzcnZZSj0be/zBM0CZkEKojWXdeJwUuJAk4Fm5d6iWYxoWMyZF1DJQmZ9tLF5nN8YZQBDiJlSgJeqL8nUhJqPQt90xkSGOlVLxP/87oJBLdeymWcAJN0+VGQCAwRzmLAA64YBTEzhFDFza6YjogiFExYWQju6snrpHVddZ2q+1gr12t5HEV0hs5RBbnoBtXRA2qgJqJogp7RK3qzUuvFerc+lq0FK585RX9gff4A4n6Rzw==</latexit> <latexit sha1_base64="y13xjEdrsarXs2WP3sldAYp7qYg=">AAAB+3icbVBdSwJBFJ21L7OvzR57GZLAQGQ3hHoJhF56tEgTdJHZcVYH52OZmRVl8a/00kMRvfZHeuvfNOo+lHbgwuGce7n3njBmVBvP+3ZyG5tb2zv53cLe/sHhkXtcbGmZKEyaWDKp2iHShFFBmoYaRtqxIoiHjDyFo9u5/zQmSlMpHs00JgFHA0EjipGxUs8tTuANLMeVceWh0pWcDNBFzy15VW8BuE78jJRAhkbP/er2JU44EQYzpHXH92ITpEgZihmZFbqJJjHCIzQgHUsF4kQH6eL2GTy3Sh9GUtkSBi7U3xMp4lpPeWg7OTJDverNxf+8TmKi6yClIk4MEXi5KEoYNBLOg4B9qgg2bGoJworaWyEeIoWwsXEVbAj+6svrpHVZ9b2qf18r1WtZHHlwCs5AGfjgCtTBHWiAJsBgAp7BK3hzZs6L8+58LFtzTjZzAv7A+fwBc/KSuA==</latexit>

Underactuated System:
u = (T, nx , ny , nz ) 6 DoFs, 4 inputs
<latexit sha1_base64="Bjrw49MfzDRoR1arR90pqiljZWU=">AAAB/HicbVDLSgMxFL1TX7W+ql26CRahgpQZKehGKLhxWaEvaIchk2ba0ExmSDLiONRfceNCEbd+iDv/xvSx0NYDBw7n3Etujh9zprRtf1u5tfWNza38dmFnd2//oHh41FZRIgltkYhHsutjRTkTtKWZ5rQbS4pDn9OOP76Z5p17KhWLRFOnMXVDPBQsYARrY3nFUoKuUaV5LrwHw9Tw8cwrlu2qPQNaFc5ClGGBhlf86g8ikoRUaMKxUj3HjrWbYakZ4XRS6CeKxpiM8ZD2jBQ4pMrNZsdP0KlxBiiIpKHQaOb+3shwqFQa+mYyxHqklrOp+V/WS3Rw5WZMxImmgswfChKOdISmTaABk5RonhqBiWTmVkRGWGKiTV8FU4Kz/OVV0b6oOnbVuauV67VFHXk4hhOogAOXUIdbaEALCKTwDK/wZj1ZL9a79TEfzVmLnRL8gfX5A2rXk0g=</latexit>
Fundamentals of Control
Quadrotor dynamic motor
• Underactuated system
• 6 DoFs, 4 inputs
• What trajectories are feasible? Can only prescribe 4 DoFs.
<latexit sha1_base64="qjTT1q8qqgNm0F0jR1UEVc94gqw=">AAAB/nicbVDLSgMxFM34rPU1Kq7cBIsiCGVGCroRCm5cVugL2mHIZDJtaB5DkhHKUPBX3LhQxK3f4c6/MW1noa0H7uVwzr3k5kQpo9p43rezsrq2vrFZ2ipv7+zu7bsHh20tM4VJC0smVTdCmjAqSMtQw0g3VQTxiJFONLqb+p1HojSVomnGKQk4GgiaUIyMlUL3mPfjWBqYwvNbmIRNeGn7IHQrXtWbAS4TvyAVUKARul/9WOKME2EwQ1r3fC81QY6UoZiRSbmfaZIiPEID0rNUIE50kM/On8Azq8QwkcqWMHCm/t7IEdd6zCM7yZEZ6kVvKv7n9TKT3AQ5FWlmiMDzh5KMQSPhNAsYU0WwYWNLEFbU3grxECmEjU2sbEPwF7+8TNpXVd+r+g+1Sr1WxFECJ+AUXAAfXIM6uAcN0AIY5OAZvII358l5cd6dj/noilPsHIE/cD5/AGfpk8Y=</latexit>
mp̈ = fT + fg fT =
<latexit sha1_base64="K3VQeOZtSK43+AA/1SX0wyBGBYs=">AAACB3icbZDLSgMxFIYz9VbrbdSlIMEiuLHMaEE3QsGNyyq9QTsMmTQzDU0yY5IRytCdG1/FjQtF3PoK7nwb03YW2vpD4Oc753By/iBhVGnH+bYKS8srq2vF9dLG5tb2jr2711JxKjFp4pjFshMgRRgVpKmpZqSTSIJ4wEg7GF5P6u0HIhWNRUOPEuJxFAkaUoy0Qb59GPoNeAVPG3fEP+/dp6gPQz8yhEfQEN8uOxVnKrho3NyUQa66b3/1+jFOOREaM6RU13US7WVIaooZGZd6qSIJwkMUka6xAnGivGx6xxgeG2L2x9I8oeGU/p7IEFdqxAPTyZEeqPnaBP5X66Y6vPQyKpJUE4Fni8KUQR3DSSiwTyXBmo2MQVhS81eIB0girE10JROCO3/yommdVVyn4t5Wy7VqHkcRHIAjcAJccAFq4AbUQRNg8AiewSt4s56sF+vd+pi1Fqx8Zh/8kfX5AyiKluQ=</latexit>
T Re3 fg = mge3

fT
<latexit sha1_base64="rVYtuy5QShVdfGk0P4VcpZv9kBc=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx4r9gvaUDbbTbt0swm7E6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvSKQw6LrfTmFre2d3r7hfOjg8Oj4pn551TJxqxtsslrHuBdRwKRRvo0DJe4nmNAok7wbTu4XffeLaiFi1cJZwP6JjJULBKFrpMRy2huWKW3WXIJvEy0kFcjSH5a/BKGZpxBUySY3pe26CfkY1Cib5vDRIDU8om9Ix71uqaMSNny1PnZMrq4xIGGtbCslS/T2R0ciYWRTYzojixKx7C/E/r59ieOtnQiUpcsVWi8JUEozJ4m8yEpozlDNLKNPC3krYhGrK0KZTsiF46y9vks5N1XOr3kOt0qjlcRThAi7hGjyoQwPuoQltYDCGZ3iFN0c6L86787FqLTj5zDn8gfP5AyEajaM=</latexit>
fT
<latexit sha1_base64="rVYtuy5QShVdfGk0P4VcpZv9kBc=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx4r9gvaUDbbTbt0swm7E6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvSKQw6LrfTmFre2d3r7hfOjg8Oj4pn551TJxqxtsslrHuBdRwKRRvo0DJe4nmNAok7wbTu4XffeLaiFi1cJZwP6JjJULBKFrpMRy2huWKW3WXIJvEy0kFcjSH5a/BKGZpxBUySY3pe26CfkY1Cib5vDRIDU8om9Ix71uqaMSNny1PnZMrq4xIGGtbCslS/T2R0ciYWRTYzojixKx7C/E/r59ieOtnQiUpcsVWi8JUEozJ4m8yEpozlDNLKNPC3krYhGrK0KZTsiF46y9vks5N1XOr3kOt0qjlcRThAi7hGjyoQwPuoQltYDCGZ3iFN0c6L86787FqLTj5zDn8gfP5AyEajaM=</latexit>

mp̈
<latexit sha1_base64="bifruhV7H9qmygVM8Nf/uXJ9bsQ=">AAAB73icbVDLSgNBEJyNrxhfUY9eBoPgKexKQI8BLx4jmAckS5idnU2GzGOd6RXCkp/w4kERr/6ON//GSbIHTSxoKKq66e6KUsEt+P63V9rY3NreKe9W9vYPDo+qxycdqzNDWZtqoU0vIpYJrlgbOAjWSw0jMhKsG01u5373iRnLtXqAacpCSUaKJ5wScFJPDuJYA06H1Zpf9xfA6yQoSA0VaA2rX4NY00wyBVQQa/uBn0KYEwOcCjarDDLLUkInZMT6jioimQ3zxb0zfOGUGCfauFKAF+rviZxIa6cycp2SwNiuenPxP6+fQXIT5lylGTBFl4uSTGDQeP48jrlhFMTUEUINd7diOiaGUHARVVwIwerL66RzVQ/8enDfqDUbRRxldIbO0SUK0DVqojvUQm1EkUDP6BW9eY/ei/fufSxbS14xc4r+wPv8Acvgj8A=</latexit>

fg
<latexit sha1_base64="SVFQvwsupcSGVegYnlmyTa3k7Vs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48V7Qe0oWy2m3TpZhN2J0IJ/QlePCji1V/kzX/jts1BWx8MPN6bYWZekEph0HW/ndLG5tb2Tnm3srd/cHhUPT7pmCTTjLdZIhPdC6jhUijeRoGS91LNaRxI3g0mt3O/+8S1EYl6xGnK/ZhGSoSCUbTSQziMhtWaW3cXIOvEK0gNCrSG1a/BKGFZzBUySY3pe26Kfk41Cib5rDLIDE8pm9CI9y1VNObGzxenzsiFVUYkTLQthWSh/p7IaWzMNA5sZ0xxbFa9ufif188wvPFzodIMuWLLRWEmCSZk/jcZCc0ZyqkllGlhbyVsTDVlaNOp2BC81ZfXSeeq7rl1775RazaKOMpwBudwCR5cQxPuoAVtYBDBM7zCmyOdF+fd+Vi2lpxi5hT+wPn8AT3mjbY=</latexit>
fg
<latexit sha1_base64="SVFQvwsupcSGVegYnlmyTa3k7Vs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48V7Qe0oWy2m3TpZhN2J0IJ/QlePCji1V/kzX/jts1BWx8MPN6bYWZekEph0HW/ndLG5tb2Tnm3srd/cHhUPT7pmCTTjLdZIhPdC6jhUijeRoGS91LNaRxI3g0mt3O/+8S1EYl6xGnK/ZhGSoSCUbTSQziMhtWaW3cXIOvEK0gNCrSG1a/BKGFZzBUySY3pe26Kfk41Cib5rDLIDE8pm9CI9y1VNObGzxenzsiFVUYkTLQthWSh/p7IaWzMNA5sZ0xxbFa9ufif188wvPFzodIMuWLLRWEmCSZk/jcZCc0ZyqkllGlhbyVsTDVlaNOp2BC81ZfXSeeq7rl1775RazaKOMpwBudwCR5cQxPuoAVtYBDBM7zCmyOdF+fd+Vi2lpxi5hT+wPn8AT3mjbY=</latexit>

mp̈ = 0 mp̈ 6= 0
fT + fg = 0
<latexit sha1_base64="qlPKVd/qHZ9YmncfIZsrT8tfXg0=">AAACB3icbVDLSsNAFJ3UV42vqEtBBosiCGUiBd0IBTcuK/QFTQiTyaQdOsmEmYlQQndu/BU3LhRx6y+482+cPhbaeuDC4Zx7ufeeMONMaYS+rdLK6tr6RnnT3tre2d1z9g/aSuSS0BYRXMhuiBXlLKUtzTSn3UxSnIScdsLh7cTvPFCpmEibepRRP8H9lMWMYG2kwDlOvCgSGmbw7AYi6Hl2HDThBYyDvlFQ4FRQFU0Bl4k7JxUwRyNwvrxIkDyhqSYcK9VzUab9AkvNCKdj28sVzTAZ4j7tGZrihCq/mP4xhqdGiWAspKlUw6n6e6LAiVKjJDSdCdYDtehNxP+8Xq7ja79gaZZrmpLZojjnUAs4CQVGTFKi+cgQTCQzt0IywBITbaKzTQju4svLpH1ZdVHVva9V6rV5HGVwBE7AOXDBFaiDO9AALUDAI3gGr+DNerJerHfrY9ZasuYzh+APrM8foiqV5Q==</latexit>
fT + fg = mp̈
<latexit sha1_base64="SWk9YlSCt+aNjzug4zTWX3u08FA=">AAACE3icbVBNSwMxFMz6WdevqkcvD4siCmVXCnoRCl48Ktha6JYlm83WYJJdk6xQlv4HL/4VLx4U8erFm//GtN2DWgcCw8w8Xt5EGWfaeN6XMzM7N7+wWFlyl1dW19arG5ttneaK0BZJeao6EdaUM0lbhhlOO5miWEScXke3ZyP/+p4qzVJ5ZQYZ7QnclyxhBBsrhdUDEcRxaiCDvUDSO/AgCNwkvIJDSMI+7J2CgDIRVmte3RsDpolfkhoqcRFWP4M4Jbmg0hCOte76XmZ6BVaGEU6HbpBrmmFyi/u0a6nEgupeMb5pCLtWiSFJlX3SwFj9OVFgofVARDYpsLnRf72R+J/XzU1y0iuYzHJDJZksSnIOJoVRQRAzRYnhA0swUcz+FcgNVpgYW6NrS/D/njxN2kd136v7l41as1HWUUHbaAftIx8doyY6RxeohQh6QE/oBb06j86z8+a8T6IzTjmzhX7B+fgGrima1A==</latexit>
Fundamentals of Control
Robot control – example with a quadrotor
Disturbances

Commands Controller Outputs


Model Dynamics

Sensors Noise

State
Angular Dynamics Linear Dynamics

Input

Underactuated system: 12 states, 4 inputs Can prescribe


Fundamentals of Control
Robot control – example with a quadrotor

Disturbances

Commands Controller Outputs


Model Dynamics

Sensors Noise

Now the controller


Fundamentals of Control
Trajectory Tracking of a Robot – example with a quadrotor

Position Attitude Angular


Linear Dynamics
Control Control Dynamics

Simplest Position
Controller yields a mass-
spring-damper system
Fundamentals of Control
How to synthesize the Controller?

Position Attitude Angular


Linear Dynamics
Control Control Dynamics

Properties:
Control design: • Stability with large region
• Lyapunov stability analysis of attraction
• Adaptive backstepping • Bounded actuation
• Hybrid control • Robustness to
disturbances
Fundamentals of Control
Navigation System with data from sensors

Disturbances

Commands Controller Outputs


Model Dynamics

Sensors Noise

See last lesson...


Fundamentals of Control
Example: Landing on a moving platform
• Quadrotor
• IMU Assumptions

• Wide-angle camera • Planar target

• Moving platform
- Translation
• Goal: land on a target • Non-agressive maneuvers
Fundamentals of Control
Example: Landing on a moving platform – Vision based controller
Control objective: • Optical flow field

Available measurements:
• Images of target points

2
5
http://users.isr.ist.utl.pt/~rmac/videos/interaction_2.mp4
Fundamentals of Control
Other Control Objetives

• Path Following vs. Trajectory Tracking

Far: Ensure control law is well defined Near: Velocity control


Fundamentals of Control
Other Control Objetives
Leader-following for formation control
• Main idea: Trailer-like behavior for the followers.

In inertial frame: In trailer frame:


Translated identical paths Different paths, no superposition
2
8
Fundamentals of Control
Other Control Objetives

http://users.isr.ist.utl.pt/~rmac/videos/multi_vehicles.mp4
Fundamentals of Control
Other Control Objetives
Fundamentals of Control
Fedback Control for Trajectory Tracking
• Equations of motion
mp̈ = T r3 + mge3 , r3 = Re3 T
T <latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

Translational
Rotational
<latexit sha1_base64="3ZxaDph4Jmv63OFYIEeV/iMkztc=">AAACEHicbVDLSsNAFJ3UV62vqEs3g0UU1JLYgm4KBTcuq/QFTQiTybQOnUnCzEQooZ/gxl9x40IRty7d+TdO2iy09cDAuefcy517/JhRqSzr2ygsLa+srhXXSxubW9s75u5eR0aJwKSNIxaJno8kYTQkbUUVI71YEMR9Rrr+6Drzuw9ESBqFLTWOicvRMKQDipHSkmcecycIIgVjWIfnLeFV4SnkQ0i86pkDs7IO77LKM8tWxZoCLhI7J2WQo+mZX04Q4YSTUGGGpOzbVqzcFAlFMSOTkpNIEiM8QkPS1zREnEg3nR40gUdaCeAgEvqFCk7V3xMp4lKOua87OVL3ct7LxP+8fqIGV25KwzhRJMSzRYOEQRXBLB0YUEGwYmNNEBZU/xXieyQQVjrDkg7Bnj95kXQuKrZVsW9r5UYtj6MIDsAhOAE2uAQNcAOaoA0weATP4BW8GU/Gi/FufMxaC0Y+sw/+wPj8AZSjmRE=</latexit>

<latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

Ṙ = RS(!) r3 (p, ṗ)


n Dynamics Dynamics
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<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit

J !˙ =
<latexit sha1_base64="z909kFAEfOHpwNvkkWR/4OXBQZk=">AAACJ3icbVDLSgMxFM3UVx1fVZdugkWpiGVGCrpRCm6kq1rtAzpDyaRpG5rJDElGKEP/xo2/4kZQEV36J2baAbX1QODknHtvco8XMiqVZX0amYXFpeWV7Kq5tr6xuZXb3mnIIBKY1HHAAtHykCSMclJXVDHSCgVBvsdI0xteJX7znghJA36nRiFxfdTntEcxUlrq5C6dbqBgDR5ewNptwQl80kdH0HHMSmJM74l5An/cSiofQz0gbxWtCeA8sVOSBymqndyLnosjn3CFGZKybVuhcmMkFMWMjE0nkiREeIj6pK0pRz6RbjzZcwwPtNKFvUDowxWcqL87YuRLOfI9XekjNZCzXiL+57Uj1Tt3Y8rDSBGOpw/1IgZVAJPQYJcKghUbaYKwoPqvEA+QQFjpaE0dgj278jxpnBZtq2jflPLlUhpHFuyBfVAANjgDZXANqqAOMHgAT+AVvBmPxrPxbnxMSzNG2rML/sD4+gZsNqHx</latexit>
S(!)J! + n
(R, !)
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• Control objective:
• Consider a desired trajectory for the output (p⇤ (t), <latexit sha1_base64="PRd40PUZWDvx+4KSaKRBAvsPy/0=">AAAB/XicbZDLSsNAFIZP6q3WW7zs3AwWoRUpiRR0WXDjsoK9QBvLZDpph04mYWYi1FJ8FTcuFHHre7jzbZymWWjrDwMf/zmHc+b3Y86UdpxvK7eyura+kd8sbG3v7O7Z+wdNFSWS0AaJeCTbPlaUM0EbmmlO27GkOPQ5bfmj61m99UClYpG40+OYeiEeCBYwgrWxevZRKb4/K+nyOerGiqVYRj276FScVGgZ3AyKkKnes7+6/YgkIRWacKxUx3Vi7U2w1IxwOi10E0VjTEZ4QDsGBQ6p8ibp9VN0apw+CiJpntAodX9PTHCo1Dj0TWeI9VAt1mbmf7VOooMrb8JEnGgqyHxRkHCkIzSLAvWZpETzsQFMJDO3IjLEEhNtAiuYENzFLy9D86LiOhX3tlqsVbM48nAMJ1ACFy6hBjdQhwYQeIRneIU368l6sd6tj3lrzspmDuGPrM8f1P2S1A==</latexit>

(t))
Define a control law for (T, n) such that
(p(t), (t)) ! (p⇤ (t), ⇤ (t)) as t ! +1
<latexit sha1_base64="87XFVB+cQYuueAZfr4Qz8VxFYQQ=">AAACF3icbZDLSgMxFIYz9VbrrerSTbAIU5EyIwVdFty4rGAv0I4lk6ZtaGYmJGeUUvoWbnwVNy4Ucas738bMdBbaeiDk4//PITm/LwXX4DjfVm5ldW19I79Z2Nre2d0r7h80dRQryho0EpFq+0QzwUPWAA6CtaViJPAFa/njq8Rv3TOleRTewkQyLyDDkA84JWCkXrFiSxvKZ12pubnLuKv4cAREqegB2/LuNDFx4qZY7hVLTsVJCy+Dm0EJZVXvFb+6/YjGAQuBCqJ1x3UkeFOigFPBZoVurJkkdEyGrGMwJAHT3jTda4ZPjNLHg0iZEwJO1d8TUxJoPQl80xkQGOlFLxH/8zoxDC69KQ9lDCyk84cGscAQ4SQk3OeKURATA4Qqbv6K6YgoQsFEWTAhuIsrL0PzvOI6FfemWqpVszjy6AgdIxu56ALV0DWqowai6BE9o1f0Zj1ZL9a79TFvzVnZzCH6U9bnDyuQnLw=</latexit>
<latexit sha1_base64="1gloJE+EAKx6g9LlCJo9sMwNieQ=">AAAB/nicbVBNS8NAEN34WetXVDx5WSyCIJRECnosePFYwX5AU8pmu2mXbnbD7kQJoeBf8eJBEa/+Dm/+G7dtDtr6YODx3gwz88JEcAOe9+2srK6tb2yWtsrbO7t7++7BYcuoVFPWpEoo3QmJYYJL1gQOgnUSzUgcCtYOxzdTv/3AtOFK3kOWsF5MhpJHnBKwUt89BhxoPhwB0Vo94ouAywiyvlvxqt4MeJn4BamgAo2++xUMFE1jJoEKYkzX9xLo5UQDp4JNykFqWELomAxZ11JJYmZ6+ez8CT6zygBHStuSgGfq74mcxMZkcWg7YwIjs+hNxf+8bgrRdS/nMkmBSTpfFKUCg8LTLPCAa0ZBZJYQqrm9FdMR0YSCTaxsQ/AXX14mrcuq71X9u1qlXiviKKETdIrOkY+uUB3dogZqIopy9Ixe0Zvz5Lw4787HvHXFKWaO0B84nz8G/pV5</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking
Structure to be exploited
• Outer-loop controller for translational dynamics
determines the thrust T and desired orientation Rd
• Goal: track desired position
• Inner-loop controller for rotational dynamics
determines the torque n
• Goal: track desired orientation

(p⇤ , ṗ⇤ , p̈⇤ )


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Position T
<latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

Controller r3d
Attitude Rotational Translational
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( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics r3 Dynamics
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<latexit

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<latexit sha1_base64="kXv16985uKOLjNpoHc83SDKxzBs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0m0UI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKD3pwPShX3Kq7AFknXk4qkKM5KH/1hzFLI66QSWpMz3MT9DOqUTDJZ6V+anhC2YSOeM9SRSNu/Gxx6oxcWGVIwljbUkgW6u+JjEbGTKPAdkYUx2bVm4v/eb0Uwxs/EypJkSu2XBSmkmBM5n+TodCcoZxaQpkW9lbCxlRThjadkg3BW315nbSvqp5b9e5rlUYtj6MIZ3AOl+BBHRpwB01oAYMRPMMrvDnSeXHenY9la8HJZ07hD5zPHwFejY4=</latexit>

(R, !)
(p, ṗ)
<latexit sha1_base64="KZ47aNJbLjHCsci8nCuG+4Z45lI=">AAAB8XicbVDLSgMxFL3js9ZX1aWbYBEqSJmRgi4LblxWsA9sh5JJM21oJjMkd4Qy9C/cuFDErX/jzr8xbWehrQcCh3PuIfeeIJHCoOt+O2vrG5tb24Wd4u7e/sFh6ei4ZeJUM95ksYx1J6CGS6F4EwVK3kk0p1EgeTsY38789hPXRsTqAScJ9yM6VCIUjKKVHivJZW8QI0ku+qWyW3XnIKvEy0kZcjT6pS+bZGnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzTeeknOrDEgYa/sUkrn6O5HRyJhJFNjJiOLILHsz8T+vm2J442dCJSlyxRYfhakkGJPZ+WQgNGcoJ5ZQpoXdlbAR1ZShLaloS/CWT14lrauq51a9+1q5XsvrKMApnEEFPLiGOtxBA5rAQMEzvMKbY5wX5935WIyuOXnmBP7A+fwBQ0mP8A==</latexit>
<latexit sha1_base64="tJ/N8Bkinl/ZoXh5/cnJ/W3XbKw=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoMQQcKuBPQY8OIxinlgsoTZyWwyZB7LzKwQQv7CiwdFvPo33vwbJ8keNLGgoajqprsrSjgz1ve/vdza+sbmVn67sLO7t39QPDxqGpVqQhtEcaXbETaUM0kblllO24mmWESctqLRzcxvPVFtmJIPdpzQUOCBZDEj2DrpsXx/0VWCDvB5r1jyK/4caJUEGSlBhnqv+NXtK5IKKi3h2JhO4Cc2nGBtGeF0WuimhiaYjPCAdhyVWFATTuYXT9GZU/ooVtqVtGiu/p6YYGHMWESuU2A7NMveTPzP66Q2vg4nTCappZIsFsUpR1ah2fuozzQllo8dwUQzdysiQ6wxsS6kggshWH55lTQvK4FfCe6qpVo1iyMPJ3AKZQjgCmpwC3VoAAEJz/AKb57xXrx372PRmvOymWP4A+/zB2EqkAQ=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking – Hierarchical approach
1. Neglect rotational dynamics
• Replace r3 by a desired value r3d
• Define a new virtual input for the translational dynamics uT = T
r3d
T gives magnitude, r3d gives direction <latexit sha1_base64="vd6IDU53HHwoD+qarpprQQRsYyo=">AAACAnicbVDLSsNAFJ3UV62vqCtxM1gEN5ZEC7oRCm5cVugL2hAmk0k7dGYSZiZCCcGNv+LGhSJu/Qp3/o3TNgttPXDhcM693HtPkDCqtON8W6WV1bX1jfJmZWt7Z3fP3j/oqDiVmLRxzGLZC5AijArS1lQz0kskQTxgpBuMb6d+94FIRWPR0pOEeBwNBY0oRtpIvn2U+i14A88HkUQ4a+UZz6H0s8sw9+2qU3NmgMvELUgVFGj69tcgjHHKidCYIaX6rpNoL0NSU8xIXhmkiiQIj9GQ9A0ViBPlZbMXcnhqlBBGsTQlNJypvycyxJWa8MB0cqRHatGbiv95/VRH115GRZJqIvB8UZQyqGM4zQOGVBKs2cQQhCU1t0I8QiYMbVKrmBDcxZeXSeei5jo1975ebdSLOMrgGJyAM+CCK9AAd6AJ2gCDR/AMXsGb9WS9WO/Wx7y1ZBUzh+APrM8fH0+Wkg==</latexit>
m
uT
T = mkuT k, r3d =
kuT k
2. Define a control law for uT, assuming
<latexit sha1_base64="IrzexD3wWY3QlZc2LWgcv5btq40=">AAACFnicbZDLSsNAFIYnXmu9RV26GSyCC1sSLehGKLhxWaE3aEKYTCft0MkkzEyEkuYp3Pgqblwo4lbc+TZO2iy09cDAz/efw5nz+zGjUlnWt7Gyura+sVnaKm/v7O7tmweHHRklApM2jlgkej6ShFFO2ooqRnqxICj0Gen649vc7z4QIWnEW2oSEzdEQ04DipHSyDOrLXgDQ2eaeC1neu5A4aWXg0yzqhMIhFPNs7Sws7JnVqyaNSu4LOxCVEBRTc/8cgYRTkLCFWZIyr5txcpNkVAUM5KVnUSSGOExGpK+lhyFRLrp7KwMnmoygEEk9OMKzujviRSFUk5CX3eGSI3kopfD/7x+ooJrN6U8ThTheL4oSBhUEcwzggMqCFZsogXCguq/QjxCOg6lk8xDsBdPXhadi5pt1ez7eqVRL+IogWNwAs6ADa5AA9yBJmgDDB7BM3gFb8aT8WK8Gx/z1hWjmDkCf8r4/AEn3Z4Z</latexit>

<latexit sha1_base64="Y1wnHFUt5h96xsSctrDp14J4dHA=">AAAB+nicbVBNS8NAEN34WetXqkcvi0UQhJJIQS9CwYvHCv2CNoTNZtMu3WzC7kQpsT/FiwdFvPpLvPlv3LY5aOuDgcd7M8zMC1LBNTjOt7W2vrG5tV3aKe/u7R8c2pWjjk4yRVmbJiJRvYBoJrhkbeAgWC9VjMSBYN1gfDvzuw9MaZ7IFkxS5sVkKHnEKQEj+XZlEIYJ4BTf4Mxv4Qs89O2qU3PmwKvELUgVFWj69tcgTGgWMwlUEK37rpOClxMFnAo2LQ8yzVJCx2TI+oZKEjPt5fPTp/jMKCGOEmVKAp6rvydyEms9iQPTGRMY6WVvJv7n9TOIrr2cyzQDJuliUZQJDAme5YBDrhgFMTGEUMXNrZiOiCIUTFplE4K7/PIq6VzWXKfm3terjXoRRwmdoFN0jlx0hRroDjVRG1H0iJ7RK3qznqwX6936WLSuWcXMMfoD6/MHyaKSVQ==</latexit>
p̈ = uT + g uT =?
<latexit sha1_base64="kb7IRXPs4fF3ThOQhX0P6daieto=">AAAB7nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoBex4MVjhX5BG8pmu2mXbjZhdyKU0B/hxYMiXv093vw3btsctPXBwOO9GWbmBYkUBl332ylsbG5t7xR3S3v7B4dH5eOTtolTzXiLxTLW3YAaLoXiLRQoeTfRnEaB5J1gcj/3O09cGxGrJk4T7kd0pEQoGEUrddJBk9ySu0G54lbdBcg68XJSgRyNQfmrP4xZGnGFTFJjep6boJ9RjYJJPiv1U8MTyiZ0xHuWKhpx42eLc2fkwipDEsbalkKyUH9PZDQyZhoFtjOiODar3lz8z+ulGN74mVBJilyx5aIwlQRjMv+dDIXmDOXUEsq0sLcSNqaaMrQJlWwI3urL66R9VfXcqvdYq9RreRxFOINzuAQPrqEOD9CAFjCYwDO8wpuTOC/Ou/OxbC04+cwp/IHz+QPuOY6W</latexit>

(p⇤ , ṗ⇤ , p̈⇤ )


<latexit sha1_base64="UayR05SfV/no5OYJiKWm1FKv+r8=">AAACA3icbZDLSgMxFIbP1Futt1F3ugkWoYqUGSnosuDGZQV7gXYsmTTTBjMXkjNCKQU3voobF4q49SXc+Tam7Sy09YfAx3/OSXJ+P5FCo+N8W7ml5ZXVtfx6YWNza3vH3t1r6DhVjNdZLGPV8qnmUkS8jgIlbyWK09CXvOnfX03qzQeutIijWxwm3AtpPxKBYBSN1bUPSsnd6Rnp9GIkGWV40rWLTtmZiiyCm0ERMtW69pe5hqUhj5BJqnXbdRL0RlShYJKPC51U84Sye9rnbYMRDbn2RtMdxuTYOD0SxMqcCMnU/T0xoqHWw9A3nSHFgZ6vTcz/au0Ug0tvJKIkRR6x2UNBKgnGZBII6QnFGcqhAcqUMH8lbEAVZWhiK5gQ3PmVF6FxXnadsntTKVYrWRx5OIQjKIELF1CFa6hBHRg8wjO8wpv1ZL1Y79bHrDVnZTP78EfW5w9ZwJVc</latexit>
Position T
<latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

Controller
Attitude Rotational Translational
( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics r3d Dynamics
<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit

<latexit sha1_base64="P8+tAbiPSaCCc2S4H+zULmpXkYI=">AAACDHicbVDLSgMxFL1TX7W+qi7dBItQRcqMFHRZcOOygn1AO5ZMmmlDMw+SO0Ip/QA3/oobF4q49QPc+Tem7UC19UDg3HPuTXKPF0uh0ba/rczK6tr6RnYzt7W9s7uX3z+o6yhRjNdYJCPV9KjmUoS8hgIlb8aK08CTvOENrid+44ErLaLwDocxdwPaC4UvGEUjdfKFYjvW4v7snLS7EZJ5Ma9OTZddsqcgy8RJSQFSVDv5L3MZSwIeIpNU65Zjx+iOqELBJB/n2onmMWUD2uMtQ0MacO2OpsuMyYlRusSPlDkhkqn6e2JEA62HgWc6A4p9vehNxP+8VoL+lTsSYZwgD9nsIT+RBCMySYZ0heIM5dAQypQwfyWsTxVlaPLLmRCcxZWXSf2i5Ngl57ZcqJTTOLJwBMdQBAcuoQI3UIUaMHiEZ3iFN+vJerHerY9Za8ZKZw7hD6zPH5XmmV4=</latexit>

<latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

(R, !)
(p, ṗ)
<latexit sha1_base64="KZ47aNJbLjHCsci8nCuG+4Z45lI=">AAAB8XicbVDLSgMxFL3js9ZX1aWbYBEqSJmRgi4LblxWsA9sh5JJM21oJjMkd4Qy9C/cuFDErX/jzr8xbWehrQcCh3PuIfeeIJHCoOt+O2vrG5tb24Wd4u7e/sFh6ei4ZeJUM95ksYx1J6CGS6F4EwVK3kk0p1EgeTsY38789hPXRsTqAScJ9yM6VCIUjKKVHivJZW8QI0ku+qWyW3XnIKvEy0kZcjT6pS+bZGnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzTeeknOrDEgYa/sUkrn6O5HRyJhJFNjJiOLILHsz8T+vm2J442dCJSlyxRYfhakkGJPZ+WQgNGcoJ5ZQpoXdlbAR1ZShLaloS/CWT14lrauq51a9+1q5XsvrKMApnEEFPLiGOtxBA5rAQMEzvMKbY5wX5935WIyuOXnmBP7A+fwBQ0mP8A==</latexit>
<latexit sha1_base64="tJ/N8Bkinl/ZoXh5/cnJ/W3XbKw=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoMQQcKuBPQY8OIxinlgsoTZyWwyZB7LzKwQQv7CiwdFvPo33vwbJ8keNLGgoajqprsrSjgz1ve/vdza+sbmVn67sLO7t39QPDxqGpVqQhtEcaXbETaUM0kblllO24mmWESctqLRzcxvPVFtmJIPdpzQUOCBZDEj2DrpsXx/0VWCDvB5r1jyK/4caJUEGSlBhnqv+NXtK5IKKi3h2JhO4Cc2nGBtGeF0WuimhiaYjPCAdhyVWFATTuYXT9GZU/ooVtqVtGiu/p6YYGHMWESuU2A7NMveTPzP66Q2vg4nTCappZIsFsUpR1ah2fuozzQllo8dwUQzdysiQ6wxsS6kggshWH55lTQvK4FfCe6qpVo1iyMPJ3AKZQjgCmpwC3VoAAEJz/AKb57xXrx372PRmvOymWP4A+/zB2EqkAQ=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking – Hierarchical approach
3. Combine r3d with <latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

<latexit sha1_base64="y+H3V3BBPyKLhYFgogWMbaZTh1A=">AAAB7XicbVBNSwMxEJ3Ur1q/qh69BIsgHsquFPRY8OKxgv2Adi3ZNNvGZpMlyQpl6X/w4kERr/4fb/4b03YP2vpg4PHeDDPzwkRwYz3vGxXW1jc2t4rbpZ3dvf2D8uFRy6hUU9akSijdCYlhgkvWtNwK1kk0I3EoWDsc38z89hPThit5bycJC2IylDzilFgntXqJ4Q8X/XLFq3pz4FXi56QCORr98ldvoGgaM2mpIMZ0fS+xQUa05VSwaamXGpYQOiZD1nVUkpiZIJtfO8VnThngSGlX0uK5+nsiI7Exkzh0nTGxI7PszcT/vG5qo+sg4zJJLZN0sShKBbYKz17HA64ZtWLiCKGau1sxHRFNqHUBlVwI/vLLq6R1WfW9qn9Xq9RreRxFOIFTOAcfrqAOt9CAJlB4hGd4hTek0At6Rx+L1gLKZ47hD9DnDzu8jtg=</latexit>

to define a desired attitude Rd <latexit sha1_base64="N+9fgzEIAI4Y99PZO0MfA5Oy/LA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPBi8f60Q9oQ9lsJu3SzSbsboQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IBVcG9f9dkpr6xubW+Xtys7u3v5B9fCorZNMMWyxRCSqG1CNgktsGW4EdlOFNA4EdoLxzczvPKHSPJGPZpKiH9Oh5BFn1Fjp4X4QDqo1t+7OQVaJV5AaFGgOql/9MGFZjNIwQbXueW5q/Jwqw5nAaaWfaUwpG9Mh9iyVNEbt5/NTp+TMKiGJEmVLGjJXf0/kNNZ6Ege2M6ZmpJe9mfif18tMdO3nXKaZQckWi6JMEJOQ2d8k5AqZERNLKFPc3krYiCrKjE2nYkPwll9eJe2LuufWvbvLWuOyiKMMJ3AK5+DBFTTgFprQAgZDeIZXeHOE8+K8Ox+L1pJTzBzDHzifPxrijZ8=</latexit>


⇤ d =( d , ✓d , )
Rd = f (r3d , ) =? or ⇤
( d , ✓d ) = g(r3d , ) =?
<latexit sha1_base64="ZUnl5xlPtw27Ti2rpm1jvhGmlA0=">AAACA3icbVDLSgNBEOyNrxhfq970MhiEKBJ2NaAXMeDFYxTzgCQus7OzZsjsg5lZISwBL/6KFw+KePUnvPk3TpI9aGJBQ1HVTXeXG3MmlWV9G7m5+YXFpfxyYWV1bX3D3NxqyCgRhNZJxCPRcrGknIW0rpjitBULigOX06bbvxz5zQcqJIvCWzWIaTfA9yHzGcFKS465c+N46Bz5JeGkJ97wqBNLdnd4oKULxyxaZWsMNEvsjBQhQ80xvzpeRJKAhopwLGXbtmLVTbFQjHA6LHQSSWNM+vietjUNcUBlNx3/MET7WvGQHwldoUJj9fdEigMpB4GrOwOsenLaG4n/ee1E+WfdlIVxomhIJov8hCMVoVEgyGOCEsUHmmAimL4VkR4WmCgdW0GHYE+/PEsax2XbKtvXlWK1ksWRh13YgxLYcApVuIIa1IHAIzzDK7wZT8aL8W58TFpzRjazDX9gfP4AaL6VYg==</latexit>

<latexit sha1_base64="CX0gOGEnZ+NI+p4GdUWtl361DDw=">AAACPnicbVDLSsNAFJ34rPVVdelmsCitlJKooBux4MZlBaOFpobJZNoOnTyYuRFK6Je58RvcuXTjQhG3Lp2mKfg6MHA451zu3OPFgiswzSdjZnZufmGxsFRcXlldWy9tbF6rKJGU2TQSkWx5RDHBQ2YDB8FasWQk8AS78QbnY//mjknFo/AKhjHrBKQX8i6nBLTklmxH6LBPXB/vneKKE/e569ewA30GJGOx4rf7VccpTs2pVx1P9CrSTQ/9US3P4VN8hrFbKpt1MwP+S6yclFGOplt6dPyIJgELgQqiVNsyY+ikRAKngo2KTqJYTOiA9Fhb05AETHXS7PwR3tWKj7uR1C8EnKnfJ1ISKDUMPJ0MCPTVb28s/ue1E+iedFIexgmwkE4WdROBIcLjLrHPJaMghpoQKrn+K6Z9IgkF3XhRl2D9PvkvuT6oW2bdujwqN47yOgpoG+2gCrLQMWqgC9RENqLoHj2jV/RmPBgvxrvxMYnOGPnMFvoB4/ML9jeqpw==</latexit>

4. Define a control law for n to track the desired attitude Rd or <latexit sha1_base64="N+9fgzEIAI4Y99PZO0MfA5Oy/LA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPBi8f60Q9oQ9lsJu3SzSbsboQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IBVcG9f9dkpr6xubW+Xtys7u3v5B9fCorZNMMWyxRCSqG1CNgktsGW4EdlOFNA4EdoLxzczvPKHSPJGPZpKiH9Oh5BFn1Fjp4X4QDqo1t+7OQVaJV5AaFGgOql/9MGFZjNIwQbXueW5q/Jwqw5nAaaWfaUwpG9Mh9iyVNEbt5/NTp+TMKiGJEmVLGjJXf0/kNNZ6Ege2M6ZmpJe9mfif18tMdO3nXKaZQckWi6JMEJOQ2d8k5AqZERNLKFPc3krYiCrKjE2nYkPwll9eJe2LuufWvbvLWuOyiKMMJ3AK5+DBFTTgFprQAgZDeIZXeHOE8+K8Ox+L1pJTzBzDHzifPxrijZ8=</latexit> <latexit sha1_base64="5vbneubVin/6dittSF2mVojyhGI=">AAAB8HicbVDLSgMxFL1TX7W+qi7dBIvgqsxIQZcFNy4r2Ie0Q8lkMm1oHkOSEcrQr3DjQhG3fo47/8a0nYW2HggczjmX3HuilDNjff/bK21sbm3vlHcre/sHh0fV45OOUZkmtE0UV7oXYUM5k7RtmeW0l2qKRcRpN5rczv3uE9WGKflgpykNBR5JljCCrZMeB9xFYzyMh9WaX/cXQOskKEgNCrSG1a9BrEgmqLSEY2P6gZ/aMMfaMsLprDLIDE0xmeAR7TsqsaAmzBcLz9CFU2KUKO2etGih/p7IsTBmKiKXFNiOzao3F//z+plNbsKcyTSzVJLlR0nGkVVofj2KmabE8qkjmGjmdkVkjDUm1nVUcSUEqyevk85VPfDrwX2j1mwUdZThDM7hEgK4hibcQQvaQEDAM7zCm6e9F+/d+1hGS14xcwp/4H3+AK/lkEY=</latexit>
d

Ṙ = RS(!) ˙ = Q( , ✓)!
or n =?
J !˙ = S(!)J! + n J !˙ = S(!)J! + n
<latexit sha1_base64="/c2dXt4yxGWbKNHwmLdJDFo6wmA=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItY8OKxgmkLbSib7aRdutmE3Y1QQn+DFw+KePUHefPfuG1z0NYHA4/3ZpiZF6aCa+O6305pbX1jc6u8XdnZ3ds/qB4etXSSKYY+S0SiOiHVKLhE33AjsJMqpHEosB2O72Z++wmV5ol8NJMUg5gOJY84o8ZKviQ35LZfrbl1dw6ySryC1KBAs1/96g0SlsUoDRNU667npibIqTKcCZxWepnGlLIxHWLXUklj1EE+P3ZKzqwyIFGibElD5urviZzGWk/i0HbG1Iz0sjcT//O6mYmug5zLNDMo2WJRlAliEjL7nAy4QmbExBLKFLe3EjaiijJj86nYELzll1dJ66LuuXXv4bLWuCziKMMJnMI5eHAFDbiHJvjAgMMzvMKbI50X5935WLSWnGLmGP7A+fwBhjeNyA==</latexit>

<latexit sha1_base64="z909kFAEfOHpwNvkkWR/4OXBQZk=">AAACJ3icbVDLSgMxFM3UVx1fVZdugkWpiGVGCrpRCm6kq1rtAzpDyaRpG5rJDElGKEP/xo2/4kZQEV36J2baAbX1QODknHtvco8XMiqVZX0amYXFpeWV7Kq5tr6xuZXb3mnIIBKY1HHAAtHykCSMclJXVDHSCgVBvsdI0xteJX7znghJA36nRiFxfdTntEcxUlrq5C6dbqBgDR5ewNptwQl80kdH0HHMSmJM74l5An/cSiofQz0gbxWtCeA8sVOSBymqndyLnosjn3CFGZKybVuhcmMkFMWMjE0nkiREeIj6pK0pRz6RbjzZcwwPtNKFvUDowxWcqL87YuRLOfI9XekjNZCzXiL+57Uj1Tt3Y8rDSBGOpw/1IgZVAJPQYJcKghUbaYKwoPqvEA+QQFjpaE0dgj278jxpnBZtq2jflPLlUhpHFuyBfVAANjgDZXANqqAOMHgAT+AVvBmPxrPxbnxMSzNG2rML/sD4+gZsNqHx</latexit> <latexit sha1_base64="BoyucQC36HA4lMw+GYcZIsVpyjg=">AAACN3icbVA9SwNBEN3z2/gVtbRZDEpEDXciaCMINmIhCRoj5ILMbSbJ4t4Hu3NCCP4rG/+GnTYWitj6D9wkV2h0YOHNmzczOy9IlDTkus/O2PjE5NT0zGxubn5hcSm/vHJl4lQLrIpYxfo6AINKRlglSQqvE40QBgprwe1Jv167Q21kHF1SN8FGCO1ItqQAstRN/txvxsR9ZTuawDePeKXoJx2541MHCbb8OMQ2cN/PnfWFWWplu/yiOMy2+FlGb3M7sOCW3EHwv8DLQIFlUb7JP9m5Ig0xIqHAmLrnJtTogSYpFN7n/NRgAuIW2li3MIIQTaM3uPueb1imyVuxti8iPmB/dvQgNKYbBlYZAnXMaK1P/lerp9Q6bPRklKSEkRguaqWKU8z7JvKm1ChIdS0AoaX9Kxcd0CDIWp2zJnijJ/8FV3slzy15lf3C8X5mxwxbY+usyDx2wI7ZKSuzKhPsgb2wN/buPDqvzofzOZSOOVnPKvsVztc3/qao4w==</latexit>

(p⇤ , ṗ⇤ , p̈⇤ ) Position T


r3d
<latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

<latexit sha1_base64="UayR05SfV/no5OYJiKWm1FKv+r8=">AAACA3icbZDLSgMxFIbP1Futt1F3ugkWoYqUGSnosuDGZQV7gXYsmTTTBjMXkjNCKQU3voobF4q49SXc+Tam7Sy09YfAx3/OSXJ+P5FCo+N8W7ml5ZXVtfx6YWNza3vH3t1r6DhVjNdZLGPV8qnmUkS8jgIlbyWK09CXvOnfX03qzQeutIijWxwm3AtpPxKBYBSN1bUPSsnd6Rnp9GIkGWV40rWLTtmZiiyCm0ERMtW69pe5hqUhj5BJqnXbdRL0RlShYJKPC51U84Sye9rnbYMRDbn2RtMdxuTYOD0SxMqcCMnU/T0xoqHWw9A3nSHFgZ6vTcz/au0Ug0tvJKIkRR6x2UNBKgnGZBII6QnFGcqhAcqUMH8lbEAVZWhiK5gQ3PmVF6FxXnadsntTKVYrWRx5OIQjKIELF1CFa6hBHRg8wjO8wpv1ZL1Y79bHrDVnZTP78EfW5w9ZwJVc</latexit>

Controller
<latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

Attitude Rotational Translational


( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics r3d Dynamics
<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit

<latexit sha1_base64="P8+tAbiPSaCCc2S4H+zULmpXkYI=">AAACDHicbVDLSgMxFL1TX7W+qi7dBItQRcqMFHRZcOOygn1AO5ZMmmlDMw+SO0Ip/QA3/oobF4q49QPc+Tem7UC19UDg3HPuTXKPF0uh0ba/rczK6tr6RnYzt7W9s7uX3z+o6yhRjNdYJCPV9KjmUoS8hgIlb8aK08CTvOENrid+44ErLaLwDocxdwPaC4UvGEUjdfKFYjvW4v7snLS7EZJ5Ma9OTZddsqcgy8RJSQFSVDv5L3MZSwIeIpNU65Zjx+iOqELBJB/n2onmMWUD2uMtQ0MacO2OpsuMyYlRusSPlDkhkqn6e2JEA62HgWc6A4p9vehNxP+8VoL+lTsSYZwgD9nsIT+RBCMySYZ0heIM5dAQypQwfyWsTxVlaPLLmRCcxZWXSf2i5Ngl57ZcqJTTOLJwBMdQBAcuoQI3UIUaMHiEZ3iFN+vJerHerY9Za8ZKZw7hD6zPH5XmmV4=</latexit>

<latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

(R, !)
(p, ṗ)
<latexit sha1_base64="KZ47aNJbLjHCsci8nCuG+4Z45lI=">AAAB8XicbVDLSgMxFL3js9ZX1aWbYBEqSJmRgi4LblxWsA9sh5JJM21oJjMkd4Qy9C/cuFDErX/jzr8xbWehrQcCh3PuIfeeIJHCoOt+O2vrG5tb24Wd4u7e/sFh6ei4ZeJUM95ksYx1J6CGS6F4EwVK3kk0p1EgeTsY38789hPXRsTqAScJ9yM6VCIUjKKVHivJZW8QI0ku+qWyW3XnIKvEy0kZcjT6pS+bZGnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzTeeknOrDEgYa/sUkrn6O5HRyJhJFNjJiOLILHsz8T+vm2J442dCJSlyxRYfhakkGJPZ+WQgNGcoJ5ZQpoXdlbAR1ZShLaloS/CWT14lrauq51a9+1q5XsvrKMApnEEFPLiGOtxBA5rAQMEzvMKbY5wX5935WIyuOXnmBP7A+fwBQ0mP8A==</latexit>
<latexit sha1_base64="tJ/N8Bkinl/ZoXh5/cnJ/W3XbKw=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoMQQcKuBPQY8OIxinlgsoTZyWwyZB7LzKwQQv7CiwdFvPo33vwbJ8keNLGgoajqprsrSjgz1ve/vdza+sbmVn67sLO7t39QPDxqGpVqQhtEcaXbETaUM0kblllO24mmWESctqLRzcxvPVFtmJIPdpzQUOCBZDEj2DrpsXx/0VWCDvB5r1jyK/4caJUEGSlBhnqv+NXtK5IKKi3h2JhO4Cc2nGBtGeF0WuimhiaYjPCAdhyVWFATTuYXT9GZU/ooVtqVtGiu/p6YYGHMWESuU2A7NMveTPzP66Q2vg4nTCappZIsFsUpR1ah2fuozzQllo8dwUQzdysiQ6wxsS6kggshWH55lTQvK4FfCe6qpVo1iyMPJ3AKZQjgCmpwC3VoAAEJz/AKb57xXrx372PRmvOymWP4A+/zB2EqkAQ=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking – details for position control
2. Define a control law for uT to track a desired trajectory
• Model p̈ = uT + g <latexit sha1_base64="Y1wnHFUt5h96xsSctrDp14J4dHA=">AAAB+nicbVBNS8NAEN34WetXqkcvi0UQhJJIQS9CwYvHCv2CNoTNZtMu3WzC7kQpsT/FiwdFvPpLvPlv3LY5aOuDgcd7M8zMC1LBNTjOt7W2vrG5tV3aKe/u7R8c2pWjjk4yRVmbJiJRvYBoJrhkbeAgWC9VjMSBYN1gfDvzuw9MaZ7IFkxS5sVkKHnEKQEj+XZlEIYJ4BTf4Mxv4Qs89O2qU3PmwKvELUgVFWj69tcgTGgWMwlUEK37rpOClxMFnAo2LQ8yzVJCx2TI+oZKEjPt5fPTp/jMKCGOEmVKAp6rvydyEms9iQPTGRMY6WVvJv7n9TOIrr2cyzQDJuliUZQJDAme5YBDrhgFMTGEUMXNrZiOiCIUTFplE4K7/PIq6VzWXKfm3terjXoRRwmdoFN0jlx0hRroDjVRG1H0iJ7RK3qznqwX6936WLSuWcXMMfoD6/MHyaKSVQ==</latexit>

• Reference to be tracked (p⇤ (t), ṗ⇤ (t), p̈⇤ (t)) <latexit sha1_base64="ivH5aEV2dlRgKK0VMwSLXsIXrxo=">AAACDHicbVDLSgMxFL1TX7W+qi7dBIvQipQZKeiy4MZlBfuAdiyZNG1DMw+SO0IZ+gFu/BU3LhRx6we4829M24Fq9UDg3HPuTXKPF0mh0ba/rMzK6tr6RnYzt7W9s7uX3z9o6DBWjNdZKEPV8qjmUgS8jgIlb0WKU9+TvOmNrqZ+854rLcLgFscRd306CERfMIpG6uYLxejutIilM9LphUgWxaIqmS67bM9A/hInJQVIUevmP81lLPZ5gExSrduOHaGbUIWCST7JdWLNI8pGdMDbhgbU59pNZstMyIlReqQfKnMCJDP150RCfa3Hvmc6fYpDvexNxf+8doz9SzcRQRQjD9j8oX4sCYZkmgzpCcUZyrEhlClh/krYkCrK0OSXMyE4yyv/JY3zsmOXnZtKoVpJ48jCERxDERy4gCpcQw3qwOABnuAFXq1H69l6s97nrRkrnTmEX7A+vgFzn5gF</latexit>

• Control law <latexit sha1_base64="wNanaGjdHT2yBt0RVwasfacZMgk=">AAAB83icbVDLSgNBEOyNrxhfUY9eBoMgCGFXAvEiBrx4jJAXZJcwO5lNhszOLvMQwpLf8OJBEa/+jDf/xkmyB00saCiquunuClPOlHbdb6ewsbm1vVPcLe3tHxwelY9POioxktA2SXgieyFWlDNB25ppTnuppDgOOe2Gk/u5332iUrFEtPQ0pUGMR4JFjGBtJd8MWugKjdCtj+4G5YpbdRdA68TLSQVyNAflL3+YEBNToQnHSvU9N9VBhqVmhNNZyTeKpphM8Ij2LRU4pirIFjfP0IVVhihKpC2h0UL9PZHhWKlpHNrOGOuxWvXm4n9e3+joJsiYSI2mgiwXRYYjnaB5AGjIJCWaTy3BRDJ7KyJjLDHRNqaSDcFbfXmddK6rnlv1HmuVRi2PowhncA6X4EEdGvAATWgDgRSe4RXeHOO8OO/Ox7K14OQzp/AHzucPfK+P9g==</latexit>


uT + g = ?

(p⇤ , ṗ⇤ , p̈⇤ )


<latexit sha1_base64="UayR05SfV/no5OYJiKWm1FKv+r8=">AAACA3icbZDLSgMxFIbP1Futt1F3ugkWoYqUGSnosuDGZQV7gXYsmTTTBjMXkjNCKQU3voobF4q49SXc+Tam7Sy09YfAx3/OSXJ+P5FCo+N8W7ml5ZXVtfx6YWNza3vH3t1r6DhVjNdZLGPV8qnmUkS8jgIlbyWK09CXvOnfX03qzQeutIijWxwm3AtpPxKBYBSN1bUPSsnd6Rnp9GIkGWV40rWLTtmZiiyCm0ERMtW69pe5hqUhj5BJqnXbdRL0RlShYJKPC51U84Sye9rnbYMRDbn2RtMdxuTYOD0SxMqcCMnU/T0xoqHWw9A3nSHFgZ6vTcz/au0Ug0tvJKIkRR6x2UNBKgnGZBII6QnFGcqhAcqUMH8lbEAVZWhiK5gQ3PmVF6FxXnadsntTKVYrWRx5OIQjKIELF1CFa6hBHRg8wjO8wpv1ZL1Y79bHrDVnZTP78EfW5w9ZwJVc</latexit>
Position <latexit sha1_base64="9jMHCbBz2TqTyVw3UYyuXzDaM/o=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx4r9gvaUDbbSbt0swm7G6GE/gQvHhTx6i/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6t/C7T6g0j2XLzBL0IzqWPOSMGis9psPWsFxxq+4SZJN4OalAjuaw/DUYxSyNUBomqNZ9z02Mn1FlOBM4Lw1SjQllUzrGvqWSRqj9bHnqnFxZZUTCWNmShizV3xMZjbSeRYHtjKiZ6HVvIf7n9VMT3voZl0lqULLVojAVxMRk8TcZcYXMiJkllClubyVsQhVlxqZTsiF46y9vks5N1XOr3kOt0qjlcRThAi7hGjyoQwPuoQltYDCGZ3iFN0c4L86787FqLTj5zDn8gfP5Azf0jbI=</latexit>
uT
Controller
Attitude Rotational Translational
( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics Dynamics
<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit

<latexit sha1_base64="P8+tAbiPSaCCc2S4H+zULmpXkYI=">AAACDHicbVDLSgMxFL1TX7W+qi7dBItQRcqMFHRZcOOygn1AO5ZMmmlDMw+SO0Ip/QA3/oobF4q49QPc+Tem7UC19UDg3HPuTXKPF0uh0ba/rczK6tr6RnYzt7W9s7uX3z+o6yhRjNdYJCPV9KjmUoS8hgIlb8aK08CTvOENrid+44ErLaLwDocxdwPaC4UvGEUjdfKFYjvW4v7snLS7EZJ5Ma9OTZddsqcgy8RJSQFSVDv5L3MZSwIeIpNU65Zjx+iOqELBJB/n2onmMWUD2uMtQ0MacO2OpsuMyYlRusSPlDkhkqn6e2JEA62HgWc6A4p9vehNxP+8VoL+lTsSYZwgD9nsIT+RBCMySYZ0heIM5dAQypQwfyWsTxVlaPLLmRCcxZWXSf2i5Ngl57ZcqJTTOLJwBMdQBAcuoQI3UIUaMHiEZ3iFN+vJerHerY9Za8ZKZw7hD6zPH5XmmV4=</latexit>

(R, !)
(p, ṗ)
<latexit sha1_base64="KZ47aNJbLjHCsci8nCuG+4Z45lI=">AAAB8XicbVDLSgMxFL3js9ZX1aWbYBEqSJmRgi4LblxWsA9sh5JJM21oJjMkd4Qy9C/cuFDErX/jzr8xbWehrQcCh3PuIfeeIJHCoOt+O2vrG5tb24Wd4u7e/sFh6ei4ZeJUM95ksYx1J6CGS6F4EwVK3kk0p1EgeTsY38789hPXRsTqAScJ9yM6VCIUjKKVHivJZW8QI0ku+qWyW3XnIKvEy0kZcjT6pS+bZGnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzTeeknOrDEgYa/sUkrn6O5HRyJhJFNjJiOLILHsz8T+vm2J442dCJSlyxRYfhakkGJPZ+WQgNGcoJ5ZQpoXdlbAR1ZShLaloS/CWT14lrauq51a9+1q5XsvrKMApnEEFPLiGOtxBA5rAQMEzvMKbY5wX5935WIyuOXnmBP7A+fwBQ0mP8A==</latexit>
<latexit sha1_base64="tJ/N8Bkinl/ZoXh5/cnJ/W3XbKw=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoMQQcKuBPQY8OIxinlgsoTZyWwyZB7LzKwQQv7CiwdFvPo33vwbJ8keNLGgoajqprsrSjgz1ve/vdza+sbmVn67sLO7t39QPDxqGpVqQhtEcaXbETaUM0kblllO24mmWESctqLRzcxvPVFtmJIPdpzQUOCBZDEj2DrpsXx/0VWCDvB5r1jyK/4caJUEGSlBhnqv+NXtK5IKKi3h2JhO4Cc2nGBtGeF0WuimhiaYjPCAdhyVWFATTuYXT9GZU/ooVtqVtGiu/p6YYGHMWESuU2A7NMveTPzP66Q2vg4nTCappZIsFsUpR1ah2fuozzQllo8dwUQzdysiQ6wxsS6kggshWH55lTQvK4FfCe6qpVo1iyMPJ3AKZQjgCmpwC3VoAAEJz/AKb57xXrx372PRmvOymWP4A+/zB2EqkAQ=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking – details for position control
2. Define a control law for uT to track a desired trajectory
• Model p̈ = uT + g
<latexit sha1_base64="Y1wnHFUt5h96xsSctrDp14J4dHA=">AAAB+nicbVBNS8NAEN34WetXqkcvi0UQhJJIQS9CwYvHCv2CNoTNZtMu3WzC7kQpsT/FiwdFvPpLvPlv3LY5aOuDgcd7M8zMC1LBNTjOt7W2vrG5tV3aKe/u7R8c2pWjjk4yRVmbJiJRvYBoJrhkbeAgWC9VjMSBYN1gfDvzuw9MaZ7IFkxS5sVkKHnEKQEj+XZlEIYJ4BTf4Mxv4Qs89O2qU3PmwKvELUgVFWj69tcgTGgWMwlUEK37rpOClxMFnAo2LQ8yzVJCx2TI+oZKEjPt5fPTp/jMKCGOEmVKAp6rvydyEms9iQPTGRMY6WVvJv7n9TOIrr2cyzQDJuliUZQJDAme5YBDrhgFMTGEUMXNrZiOiCIUTFplE4K7/PIq6VzWXKfm3terjXoRRwmdoFN0jlx0hRroDjVRG1H0iJ7RK3qznqwX6936WLSuWcXMMfoD6/MHyaKSVQ==</latexit>

• Reference to be tracked
(p⇤ (t), ṗ⇤ (t), p̈⇤ (t))
• Error system
<latexit sha1_base64="ivH5aEV2dlRgKK0VMwSLXsIXrxo=">AAACDHicbVDLSgMxFL1TX7W+qi7dBIvQipQZKeiy4MZlBfuAdiyZNG1DMw+SO0IZ+gFu/BU3LhRx6we4829M24Fq9UDg3HPuTXKPF0mh0ba/rMzK6tr6RnYzt7W9s7uX3z9o6DBWjNdZKEPV8qjmUgS8jgIlb0WKU9+TvOmNrqZ+854rLcLgFscRd306CERfMIpG6uYLxejutIilM9LphUgWxaIqmS67bM9A/hInJQVIUevmP81lLPZ5gExSrduOHaGbUIWCST7JdWLNI8pGdMDbhgbU59pNZstMyIlReqQfKnMCJDP150RCfa3Hvmc6fYpDvexNxf+8doz9SzcRQRQjD9j8oX4sCYZkmgzpCcUZyrEhlClh/krYkCrK0OSXMyE4yyv/JY3zsmOXnZtKoVpJ48jCERxDERy4gCpcQw3qwOABnuAFXq1H69l6s97nrRkrnTmEX7A+vgFzn5gF</latexit>

e(t) = p(t)
<latexit sha1_base64="63NPmXFpd9UoKaPnRCAOcDsvvW0=">AAACJ3icbZDLSgMxFIYz9VbrbdSlm2ARqmiZkYJulIIblxXsBdqxZNK0Dc1cTM4IZejbuPFV3AgqokvfxMx0Ftp6IOTj/88hOb8bCq7Asr6M3MLi0vJKfrWwtr6xuWVu7zRUEEnK6jQQgWy5RDHBfVYHDoK1QsmI5wrWdEdXid98YFLxwL+Fccgcjwx83ueUgJa65iUrwSG+wGFyneDw7kjDcec+Ij3c6QWAMz/lrGnKaWfXLFplKy08D3YGRZRVrWu+6mkaecwHKohSbdsKwYmJBE4FmxQ6kWIhoSMyYG2NPvGYcuJ0zwk+0EoP9wOpjw84VX9PxMRTauy5utMjMFSzXiL+57Uj6J87MffDCJhPpw/1I4EhwElouMcloyDGGgiVXP8V0yGRhIKOtqBDsGdXnofGadm2yvZNpVitZHHk0R7aRyVkozNURdeohuqIokf0jN7Qu/FkvBgfxue0NWdkM7voTxnfP1aPoLE=</latexit>
p⇤ (t), ė(t) = ṗ(t) ṗ⇤ (t)
ë(t) = uT (t) + g
<latexit sha1_base64="zs1GLwDRtqTCeAJe/MLXlY1g8fU=">AAACD3icbZC7SgNBFIZn4y3G26qlzWBQomLYlYA2QsDGMkJukMQwOzubDJm9MHNWCEvewMZXsbFQxNbWzrdxNtlCEw8MfPz/OZw5vxMJrsCyvo3c0vLK6lp+vbCxubW9Y+7uNVUYS8oaNBShbDtEMcED1gAOgrUjyYjvCNZyRjep33pgUvEwqMM4Yj2fDALucUpAS33zuOu6IWBWghN8jeN+PYUzPMDneOZE96da6ptFq2xNCy+CnUERZVXrm19dN6SxzwKggijVsa0IegmRwKlgk0I3ViwidEQGrKMxID5TvWR6zwQfacXFXij1CwBP1d8TCfGVGvuO7vQJDNW8l4r/eZ0YvKtewoMoBhbQ2SIvFhhCnIaDXS4ZBTHWQKjk+q+YDokkFHSEBR2CPX/yIjQvyrZVtu8qxWoliyOPDtAhKiEbXaIqukU11EAUPaJn9IrejCfjxXg3PmatOSOb2Ud/yvj8AUkImPc=</latexit>
p̈⇤ (t)
• Control law
uT (t) = kP e(t) kD ė(t) g + p̈⇤ (t)
• Closed-loop error system
<latexit sha1_base64="oCLEmEj48QpxXBhYY++xKOBpaeg=">AAACH3icbVDLSgMxFM3UV62vUZdugkWoSsuMFHUjFHThskJf0I5DJk3bMJkHyR2hlP6JG3/FjQtFxF3/xkxbQasHAueec2+Se7xYcAWWNTEyS8srq2vZ9dzG5tb2jrm711BRIimr00hEsuURxQQPWR04CNaKJSOBJ1jT869Tv/nApOJRWINhzJyA9EPe45SAllzzPHFruADH+AoXfbeKWcqL2HdvcKcbwXfdx6e6ToX4/kRLrpm3StYU+C+x5ySP5qi65qe+jiYBC4EKolTbtmJwRkQCp4KNc51EsZhQn/RZW9OQBEw5o+l+Y3yklS7uRVKfEPBU/TkxIoFSw8DTnQGBgVr0UvE/r51A79IZ8TBOgIV09lAvERginIaFu1wyCmKoCaGS679iOiCSUNCR5nQI9uLKf0njrGRbJfuunK+U53Fk0QE6RAVkowtUQbeoiuqIokf0jF7Rm/FkvBjvxsesNWPMZ/bRLxiTLz6OnX8=</latexit>

ë(t) =
<latexit sha1_base64="agxiPihBGUXODnGZdogc/MeLdMU=">AAACD3icbVDLSsNAFJ34rPUVdelmsCh10ZJIQTdCQRcuK9gHtCFMJtN2yOTBzI1QQv/Ajb/ixoUibt2682+cthG09cDA4Zx7uHOPlwiuwLK+jKXlldW19cJGcXNre2fX3NtvqTiVlDVpLGLZ8YhigkesCRwE6ySSkdATrO0FVxO/fc+k4nF0B6OEOSEZRLzPKQEtueZJz/djwKwMp/gSVwK3MeMVHLjXuPfjuWbJqlpT4EVi56SEcjRc81NnaRqyCKggSnVtKwEnIxI4FWxc7KWKJYQGZMC6mkYkZMrJpveM8bFWfNyPpX4R4Kn6O5GRUKlR6OnJkMBQzXsT8T+vm0L/wsl4lKTAIjpb1E8FhhhPysE+l4yCGGlCqOT6r5gOiSQUdIVFXYI9f/IiaZ1Vbatq39ZK9VpeRwEdoiNURjY6R3V0gxqoiSh6QE/oBb0aj8az8Wa8z0aXjDxzgP7A+PgGVZuZAA==</latexit>
kP e(t) kD ė(t)
Fundamentals of Control
Fedback Control for Trajectory Tracking – details for position control
2. Define a control law for uT to track a desired trajectory
• Closed-loop error system
ë(t) =
<latexit sha1_base64="agxiPihBGUXODnGZdogc/MeLdMU=">AAACD3icbVDLSsNAFJ34rPUVdelmsCh10ZJIQTdCQRcuK9gHtCFMJtN2yOTBzI1QQv/Ajb/ixoUibt2682+cthG09cDA4Zx7uHOPlwiuwLK+jKXlldW19cJGcXNre2fX3NtvqTiVlDVpLGLZ8YhigkesCRwE6ySSkdATrO0FVxO/fc+k4nF0B6OEOSEZRLzPKQEtueZJz/djwKwMp/gSVwK3MeMVHLjXuPfjuWbJqlpT4EVi56SEcjRc81NnaRqyCKggSnVtKwEnIxI4FWxc7KWKJYQGZMC6mkYkZMrJpveM8bFWfNyPpX4R4Kn6O5GRUKlR6OnJkMBQzXsT8T+vm0L/wsl4lKTAIjpb1E8FhhhPysE+l4yCGGlCqOT6r5gOiSQUdIVFXYI9f/IiaZ1Vbatq39ZK9VpeRwEdoiNURjY6R3V0gxqoiSh6QE/oBb0aj8az8Wa8z0aXjDxzgP7A+PgGVZuZAA==</latexit>
kP e(t) kD ė(t)

• Stability

kP > 0, kD > 0
<latexit sha1_base64="/h9EIE7HNVPeNl7CEJNWhcYClUs=">AAAB+nicbZDLSsNAFIZPvNZ6S3XpZrAILqQkUtCVFHThsoK9QBvCZDpph04mYWailNhHceNCEbc+iTvfxkmbhbb+MPDxn3M4Z/4g4Uxpx/m2VlbX1jc2S1vl7Z3dvX27ctBWcSoJbZGYx7IbYEU5E7Slmea0m0iKo4DTTjC+zuudByoVi8W9niTUi/BQsJARrI3l25Wx30RXyDnro7F/k5NvV52aMxNaBreAKhRq+vZXfxCTNKJCE46V6rlOor0MS80Ip9NyP1U0wWSMh7RnUOCIKi+bnT5FJ8YZoDCW5gmNZu7viQxHSk2iwHRGWI/UYi03/6v1Uh1eehkTSaqpIPNFYcqRjlGeAxowSYnmEwOYSGZuRWSEJSbapFU2IbiLX16G9nnNdWruXb3aqBdxlOAIjuEUXLiABtxCE1pA4BGe4RXerCfrxXq3PuatK1Yxcwh/ZH3+AGqbkXM=</latexit>
Asymptotic Stability

• Performance Specifications
• Settling time
• Overshoot
• Disturbance rejection
• Noise attenuation
• Gain and phase margin
Fundamentals of Control
Fedback Control for Trajectory Tracking
• Classical SISO system analysis
<latexit sha1_base64="oJp9pjKoUjzmy//P9jtjmwc3Mco=">AAAB8HicbVDLSgNBEOyNrxhfUY9eBoMgHsKuBPQY8OIxgnlIsobZ2dlkyDyWmVkhhHyFFw+KePVzvPk3TpI9aGJBQ1HVTXdXlHJmrO9/e4W19Y3NreJ2aWd3b/+gfHjUMirThDaJ4kp3ImwoZ5I2LbOcdlJNsYg4bUejm5nffqLaMCXv7TilocADyRJGsHXSQy+OlUXp40W/XPGr/hxolQQ5qUCORr/81YsVyQSVlnBsTDfwUxtOsLaMcDot9TJDU0xGeEC7jkosqAkn84On6MwpMUqUdiUtmqu/JyZYGDMWkesU2A7NsjcT//O6mU2uwwmTaWapJItFScaRVWj2PYqZpsTysSOYaOZuRWSINSbWZVRyIQTLL6+S1mU18KvBXa1Sr+VxFOEETuEcAriCOtxCA5pAQMAzvMKbp70X7937WLQWvHzmGP7A+/wBHF6P5Q==</latexit>
p̈⇤
p⇤ p̈ 1 p
kP + kD s
<latexit sha1_base64="YfVfBOFf+s95iOuKsTyOp3Wki7U=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSKxmWK27VXYJsEi8nFcjRHJa/BqOYpRFKwwTVuu+5ifEzqgxnAuelQaoxoWxKx9i3VNIItZ8tD52TK6uMSBgrW9KQpfp7IqOR1rMosJ0RNRO97i3E/7x+asJbP+MySQ1KtloUpoKYmCy+JiOukBkxs4Qyxe2thE2ooszYbEo2BG/95U3Sual6btVr1SqNWh5HES7gEq7Bgzo04B6a0AYGCM/wCm/Oo/PivDsfq9aCk8+cwx84nz/V44zm</latexit>

<latexit sha1_base64="tF9JcyOss0LEolqXSrM47tfBN5w=">AAAB7nicbVDLSgNBEOyNrxhfUY9eBoPgKeyKoMeAF48RzAOSJczOziZDZmeWmV4hhHyEFw+KePV7vPk3TpI9aGJBQ1HVTXdXlElh0fe/vdLG5tb2Tnm3srd/cHhUPT5pW50bxltMS226EbVcCsVbKFDybmY4TSPJO9H4bu53nrixQqtHnGQ8TOlQiUQwik7q9ONYI8kG1Zpf9xcg6yQoSA0KNAfVr36sWZ5yhUxSa3uBn2E4pQYFk3xW6eeWZ5SN6ZD3HFU05TacLs6dkQunxCTRxpVCslB/T0xpau0kjVxnSnFkV725+J/XyzG5DadCZTlyxZaLklwS1GT+O4mF4QzlxBHKjHC3EjaihjJ0CVVcCMHqy+ukfVUP/HrwcF1rXBdxlOEMzuESAriBBtxDE1rAYAzP8ApvXua9eO/ex7K15BUzp/AH3ucP/rKPSQ==</latexit>

<latexit sha1_base64="AvbA0x9A3S05Ck2EB1eG4e4ykD4=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBZBPJRECnosePFY0X5AG8tmu2mXbjZhdyKU0J/gxYMiXv1F3vw3btsctPXBwOO9GWbmBYkUBl332ymsrW9sbhW3Szu7e/sH5cOjlolTzXiTxTLWnYAaLoXiTRQoeSfRnEaB5O1gfDPz209cGxGrB5wk3I/oUIlQMIpWuk8eL/rlilt15yCrxMtJBXI0+uWv3iBmacQVMkmN6Xpugn5GNQom+bTUSw1PKBvTIe9aqmjEjZ/NT52SM6sMSBhrWwrJXP09kdHImEkU2M6I4sgsezPxP6+bYnjtZ0IlKXLFFovCVBKMyexvMhCaM5QTSyjTwt5K2IhqytCmU7IheMsvr5LWZdVzq95drVKv5XEU4QRO4Rw8uII63EIDmsBgCM/wCm+OdF6cd+dj0Vpw8plj+APn8wfvGo2C</latexit>

- s2
<latexit sha1_base64="OpEmB0dGM2pTauFa53FmA9kf/UU=">AAAB8nicbVBNS8NAEJ34WetX1aOXxSIIQkmkoMeCHjxWsB+QhrDZbtolm92wuxFK6M/w4kERr/4ab/4bt20O2vpg4PHeDDPzoowzbVz321lb39jc2q7sVHf39g8Oa0fHXS1zRWiHSC5VP8KaciZoxzDDaT9TFKcRp70ouZ35vSeqNJPi0UwyGqR4JFjMCDZW8pOwjS5REt4hHdbqbsOdA60SryR1KNEOa1+DoSR5SoUhHGvte25mggIrwwin0+og1zTDJMEj6lsqcEp1UMxPnqJzqwxRLJUtYdBc/T1R4FTrSRrZzhSbsV72ZuJ/np+b+CYomMhyQwVZLIpzjoxEs//RkClKDJ9Ygoli9lZExlhhYmxKVRuCt/zyKuleNTy34T00661mGUcFTuEMLsCDa2jBPbShAwQkPMMrvDnGeXHenY9F65pTzpzAHzifP3NPkAA=</latexit>

<latexit sha1_base64="R7VjAzHY9wXzNdqxDEaD6MHLCo0=">AAAB9HicbVBNS8NAEJ34WetX1aOXxSJ4Kkkp6LHgxWMF+wFtLJvtpl262cTdSaGE/g4vHhTx6o/x5r9x2+agrQ8GHu/NMDMvSKQw6Lrfzsbm1vbObmGvuH9weHRcOjltmTjVjDdZLGPdCajhUijeRIGSdxLNaRRI3g7Gt3O/PeHaiFg94DThfkSHSoSCUbSS3ws1ZZk3y8xjddYvld2KuwBZJ15OypCj0S999QYxSyOukElqTNdzE/QzqlEwyWfFXmp4QtmYDnnXUkUjbvxscfSMXFplQMJY21JIFurviYxGxkyjwHZGFEdm1ZuL/3ndFMMbPxMqSZErtlwUppJgTOYJkIHQnKGcWkKZFvZWwkbU5oA2p6INwVt9eZ20qhXPrXj3tXK9lsdRgHO4gCvw4BrqcAcNaAKDJ3iGV3hzJs6L8+58LFs3nHzmDP7A+fwBxRySCg==</latexit>

• Closed-loop system in time domain

p̈ = kP (p p⇤ ) kD (ṗ ṗ⇤ ) + p̈⇤


| {z } |{z}
• Closed-loop transfer
feedback function
<latexit sha1_base64="8YupN+Gakxi//NuvK1CSZBHahqg=">AAACbnicbVFdb9MwFHXC1yhfHUg8MCGuqJDKUKtkmgQvSJPggcci0W1S00WOc7NZdRxj3wyqKI/8Qd74DbzwE3DbPNCNK1k+OufY9/o4M0o6iqJfQXjj5q3bd3bu9u7df/DwUX/38bGraitwKipV2dOMO1RS45QkKTw1FnmZKTzJFh9W+sklWicr/YWWBuclP9eykIKTp9L+jyTPKwID7yGpdY42s1xgM1qkExgaGIE523/tt0X6EYbJxjqCDfBKmzYJ4XdqCsQ842LRtsnXmufwZuu6rsnZ/pa/qOw3bvO2hbQ/iMbRuuA6iDswYF1N0v5PP4KoS9QkFHduFkeG5g23JIXCtpfUDo0fh5/jzEPNS3TzZh1XC688k4Pv7pcmWLP/nmh46dyyzLyz5HThrmor8n/arKbi3byR2tSEWmwaFbUCqmCVPeTSoiC19IALK/2sIC64T4j8D/V8CPHVJ18HxwfjOBrHnw8HR4ddHDtsj71kQxazt+yIfWITNmWC/Q52g2fBXvAnfBo+D19srGHQnXnCtioc/gXPh7nb</latexit>
feedforward

P (s) kP + kD s !n2
= compare with G(s) = 2

P (s) 2
s + kD s + kP s + 2⇠!n s + !n2
<latexit sha1_base64="zMx4t8sBcL+JLfGmgymG/f4/RT0=">AAACJHicbVDLSsNAFJ34rPUVdelmsAgVoSShoCBCwYUuK9gHNGmZTCft0MkkzEzEEvoxbvwVNy584MKN3+K0jVBbDwwczjmXO/f4MaNSWdaXsbS8srq2ntvIb25t7+yae/t1GSUCkxqOWCSaPpKEUU5qiipGmrEgKPQZafiDq7HfuCdC0ojfqWFMvBD1OA0oRkpLHfPiuihP4CV0A4Fw6kYh6aEObzujVLYdeAod94H+qlBqYSbSMQtWyZoALhI7IwWQodox391uhJOQcIUZkrJlW7HyUiQUxYyM8m4iSYzwAPVIS1OOQiK9dHLkCB5rpQuDSOjHFZyosxMpCqUchr5Ohkj15bw3Fv/zWokKzr2U8jhRhOPpoiBhUEVw3BjsUkGwYkNNEBZU/xXiPtJ1Kd1rXpdgz5+8SOpOybZK9m25UClndeTAITgCRWCDM1ABN6AKagCDR/AMXsGb8WS8GB/G5zS6ZGQzB+APjO8fnbqi7A==</latexit>

<latexit sha1_base64="ylh2PuUp0RFi2hE5wAaX+k4pioY=">AAACJHicbVDLSgMxFM3UV62vUZdugkWoCmWmFBREKOjC5Qj2AX0MmTTThslkhiQjlGE+xo2/4saFD1y48VtMH4K2Hgj35Jx7Se7xYkalsqxPI7e0vLK6ll8vbGxube+Yu3sNGSUCkzqOWCRaHpKEUU7qiipGWrEgKPQYaXrB1dhv3hMhacTv1Cgm3RANOPUpRkpLrnnR8QXCqVOSx1nq9E7GFV7CqRq4DjyFgXsNZZbKXuXnMqlO5ppFq2xNABeJPSNFMIPjmm+dfoSTkHCFGZKybVux6qZIKIoZyQqdRJIY4QANSFtTjkIiu+lkyQweaaUP/UjowxWcqL8nUhRKOQo93RkiNZTz3lj8z2snyj/vppTHiSIcTx/yEwZVBMeJwT4VBCs20gRhQfVfIR4inY/SuRZ0CPb8youkUSnbVtm+rRZr1VkceXAADkEJ2OAM1MANcEAdYPAAnsALeDUejWfj3fiYtuaM2cw++APj6xulv6Gi</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking
• Closed-loop transfer function
P (s) kP + kD s !n2
s2 + kD s + kP compare with
= G(s) = 2
<latexit sha1_base64="ylh2PuUp0RFi2hE5wAaX+k4pioY=">AAACJHicbVDLSgMxFM3UV62vUZdugkWoCmWmFBREKOjC5Qj2AX0MmTTThslkhiQjlGE+xo2/4saFD1y48VtMH4K2Hgj35Jx7Se7xYkalsqxPI7e0vLK6ll8vbGxube+Yu3sNGSUCkzqOWCRaHpKEUU7qiipGWrEgKPQYaXrB1dhv3hMhacTv1Cgm3RANOPUpRkpLrnnR8QXCqVOSx1nq9E7GFV7CqRq4DjyFgXsNZZbKXuXnMqlO5ppFq2xNABeJPSNFMIPjmm+dfoSTkHCFGZKybVux6qZIKIoZyQqdRJIY4QANSFtTjkIiu+lkyQweaaUP/UjowxWcqL8nUhRKOQo93RkiNZTz3lj8z2snyj/vppTHiSIcTx/yEwZVBMeJwT4VBCs20gRhQfVfIR4inY/SuRZ0CPb8youkUSnbVtm+rRZr1VkceXAADkEJ2OAM1MANcEAdYPAAnsALeDUejWfj3fiYtuaM2cw++APj6xulv6Gi</latexit>
P ⇤ (s) s + 2⇠!n s + !n2
<latexit sha1_base64="zMx4t8sBcL+JLfGmgymG/f4/RT0=">AAACJHicbVDLSsNAFJ34rPUVdelmsAgVoSShoCBCwYUuK9gHNGmZTCft0MkkzEzEEvoxbvwVNy584MKN3+K0jVBbDwwczjmXO/f4MaNSWdaXsbS8srq2ntvIb25t7+yae/t1GSUCkxqOWCSaPpKEUU5qiipGmrEgKPQZafiDq7HfuCdC0ojfqWFMvBD1OA0oRkpLHfPiuihP4CV0A4Fw6kYh6aEObzujVLYdeAod94H+qlBqYSbSMQtWyZoALhI7IwWQodox391uhJOQcIUZkrJlW7HyUiQUxYyM8m4iSYzwAPVIS1OOQiK9dHLkCB5rpQuDSOjHFZyosxMpCqUchr5Ohkj15bw3Fv/zWokKzr2U8jhRhOPpoiBhUEVw3BjsUkGwYkNNEBZU/xXiPtJ1Kd1rXpdgz5+8SOpOybZK9m25UClndeTAITgCRWCDM1ABN6AKagCDR/AMXsGb8WS8GB/G5zS6ZGQzB+APjO8fnbqi7A==</latexit>

• Stability: poles with negative real part

kP > 0, kD > 0
<latexit sha1_base64="/h9EIE7HNVPeNl7CEJNWhcYClUs=">AAAB+nicbZDLSsNAFIZPvNZ6S3XpZrAILqQkUtCVFHThsoK9QBvCZDpph04mYWailNhHceNCEbc+iTvfxkmbhbb+MPDxn3M4Z/4g4Uxpx/m2VlbX1jc2S1vl7Z3dvX27ctBWcSoJbZGYx7IbYEU5E7Slmea0m0iKo4DTTjC+zuudByoVi8W9niTUi/BQsJARrI3l25Wx30RXyDnro7F/k5NvV52aMxNaBreAKhRq+vZXfxCTNKJCE46V6rlOor0MS80Ip9NyP1U0wWSMh7RnUOCIKi+bnT5FJ8YZoDCW5gmNZu7viQxHSk2iwHRGWI/UYi03/6v1Uh1eehkTSaqpIPNFYcqRjlGeAxowSYnmEwOYSGZuRWSEJSbapFU2IbiLX16G9nnNdWruXb3aqBdxlOAIjuEUXLiABtxCE1pA4BGe4RXerCfrxXq3PuatK1Yxcwh/ZH3+AGqbkXM=</latexit>

Spring effect Damping effect


• Decrease overshoot (increase damping coefficient)

p
⇠ = kD /(2 kP ) kD ") ⇠ "
p
(kD settling ) (⇠
2 kP )time 1) kP ") ⇠ #
• Decrease <latexit sha1_base64="nAoFJE/n8Vcr8uXzYzUmmXH1z6E=">AAACNnicbVC7SgNBFJ2NrxhfUUubwWBImrgbAtoIAS1shCjmAdmwzE4myZDZR2buqmHJV9n4HXZpLBSx9ROcPApNPDBwOOdc7tzjhoIrMM2xkVhZXVvfSG6mtrZ3dvfS+wc1FUSSsioNRCAbLlFMcJ9VgYNgjVAy4rmC1d3+5cSvPzCpeODfwzBkLY90fd7hlICWnPSN/cRx9gL3navTXNFWAwlx36mM8radymkRZ+0uG+DfDrbveLcHRMrgEef0/DRh5TFOOemMWTCnwMvEmpMMmqPipF/tdkAjj/lABVGqaZkhtGIigVPBRik7UiwktE+6rKmpTzymWvH07BE+0UobdwKpnw94qv6eiImn1NBzddIj0FOL3kT8z2tG0DlvxdwPI2A+nS3qRAJDgCcd4jaXjIIYakKo5PqvmPaIJBR005MSrMWTl0mtWLDMgnVbypRL8zqS6Agdoxyy0Bkqo2tUQVVE0TMao3f0YbwYb8an8TWLJoz5zCH6A+P7BzJcqIg=</latexit>
<latexit sha1_base64="7ymPCCeT0016rU0ogQOzt9uK0OU=">AAACOXicfVDNS8MwHE3n16xfU49egkPwNFoZ6HGgB49T3AespaRZuoWlaUlS5yj7t7z4X3gTvHhQxKv/gGlXRDfxQeDlvd8j+T0/ZlQqy3oySkvLK6tr5XVzY3Nre6eyu9eWUSIwaeGIRaLrI0kY5aSlqGKkGwuCQp+Rjj86z/zOLRGSRvxGTWLihmjAaUAxUlryKs2RdwGdJEZCRGPoXNPBUBX8jn4bjmOOvOY/c/1ozPOr6VWqVs3KAReJXZAqKND0Ko86jZOQcIUZkrJnW7FyUyQUxYxMTSeRJEZ4hAakpylHIZFumm8+hUda6cMgEvpwBXP1ZyJFoZST0NeTIVJDOe9l4l9eL1HBmZtSHieKcDx7KEgYVBHMaoR9KghWbKIJwoLqv0I8RAJhpcvOSrDnV14k7ZOabdXsq3q1US/qKIMDcAiOgQ1OQQNcgiZoAQzuwTN4BW/Gg/FivBsfs9GSUWT2wS8Yn183a624</latexit>

kD " ) ⇠!n "


<latexit sha1_base64="URRlq9R6BlxaC0F8qn0AZA+X4CU=">AAACGXicbVDNS8MwHE39nPOr6tFLcCieRisDPQ704HGK+4C1lDRLu7A0KUmqjrF/w4v/ihcPinjUk/+N6VZENx8EXt57P5LfC1NGlXacL2thcWl5ZbW0Vl7f2Nzatnd2W0pkEpMmFkzITogUYZSTpqaakU4qCUpCRtrh4Dz327dEKir4jR6mxE9QzGlEMdJGCmxnEFxAL0uRlOIOHnnXNO7r6cW7p9ATCYlRwH8i5cCuOFVnAjhP3IJUQIFGYH94PYGzhHCNGVKq6zqp9kdIaooZGZe9TJEU4QGKSddQjhKi/NFkszE8NEoPRkKawzWcqL8nRihRapiEJpkg3VezXi7+53UzHZ35I8rTTBOOpw9FGYNawLwm2KOSYM2GhiAsqfkrxH0kEdamzLwEd3bledI6qbpO1b2qVeq1oo4S2AcH4Bi44BTUwSVogCbA4AE8gRfwaj1az9ab9T6NLljFzB74A+vzG9qmoCc=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking
• Root-locus

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r
<latexit sha1_base64="iFIHE1Yv6cEqltj9jGej1c/1sTc=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw3LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/Y64zo</latexit>
<latexit

s+z 1
k
- z s2
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<latexit

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kP
k = kP = 1, z= =1
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kD
Fundamentals of Control
Fedback Control for Trajectory Tracking

k = 1,
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z=1

k = 24,
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z=2
Fundamentals of Control
Fedback Control for Trajectory Tracking <latexit sha1_base64="3oSk6DNuEkGOvzu//4N3O24b0zM=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t2FZoQ9lsJu3azSbsboQS+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBVcG9f9dkobm1vbO+Xdyt7+weFR9fikq5NMMeywRCTqIaAaBZfYMdwIfEgV0jgQ2Asmt3O/94RK80Tem2mKfkxHkkecUWOldjis1ty6uwBZJ15BalCgNax+DcKEZTFKwwTVuu+5qfFzqgxnAmeVQaYxpWxCR9i3VNIYtZ8vDp2RC6uEJEqULWnIQv09kdNY62kc2M6YmrFe9ebif14/M9GNn3OZZgYlWy6KMkFMQuZfk5ArZEZMLaFMcXsrYWOqKDM2m4oNwVt9eZ10r+qeW/fajVqzUcRRhjM4h0vw4BqacAct6AADhGd4hTfn0Xlx3p2PZWvJKWZO4Q+czx/Ds4za</latexit>
<latexit
d
r s+z 1 y
k
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<latexit

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- z s2
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<latexit

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<latexit
n

• Noise reduction

Y (j!n )
 10 dB
<latexit sha1_base64="CaI4tVjQikE/njymt78LnFs+X3w=">AAACK3icbVDLSgMxFM34tr6qLt0Ei6KgZUYEXUrduBIF64NOGTKZO200kxmTO0IZ+z9u/BUXuvCBW//DtHbh60Dg5Jx7SO4JMykMuu6rMzQ8Mjo2PjFZmpqemZ0rzy+cmjTXHOo8lak+D5kBKRTUUaCE80wDS0IJZ+HVfs8/uwFtRKpOsJNBM2EtJWLBGVopKNd8CTHe+rFmvLhYu/TTBFosUOvd4vD7jfpatNp4GxRRrUtXbeqabnquvxHVgnLFrbp90L/EG5AKGeAoKD/6UcrzBBRyyYxpeG6GzYJpFFxCt+TnBjLGr1gLGpYqloBpFv1du3TFKhGNU22PQtpXvycKlhjTSUI7mTBsm99eT/zPa+QY7zYLobIcQfGvh+JcUkxprzgaCQ0cZccSxrWwf6W8zWxtaOst2RK83yv/JadbVc+tesfblb3tQR0TZIkskzXikR2yRw7IEakTTu7IA3kmL8698+S8Oe9fo0POILNIfsD5+ARIAabw</latexit>
N (j!n ) dB

|G(j!n )|dB 
<latexit sha1_base64="q9Pc69h1UXO6EENKJ7gwXtW5grI=">AAACFXicbVBNS8NAEN34WetX1aOXxaIoaElE0KPUgx4VrApNCZvNpF3dbOLuRCixf8KLf8WLB0W8Ct78N25rD349GHi8N8PMvDCTwqDrfjgjo2PjE5OlqfL0zOzcfGVh8cykuebQ4KlM9UXIDEihoIECJVxkGlgSSjgPrw76/vkNaCNSdYrdDFoJaysRC87QSkFl05cQ4+3h+qWfJtBmgdrwtWh38DYoonqPrln/mm55rr8Z1YNK1a25A9C/xBuSKhniOKi8+1HK8wQUcsmMaXpuhq2CaRRcQq/s5wYyxq9YG5qWKpaAaRWDr3p01SoRjVNtSyEdqN8nCpYY001C25kw7JjfXl/8z2vmGO+1CqGyHEHxr0VxLimmtB8RjYQGjrJrCeNa2Fsp7zDNONogyzYE7/fLf8nZds1za97JTnV/ZxhHiSyTFbJOPLJL9skROSYNwskdeSBP5Nm5dx6dF+f1q3XEGc4skR9w3j4BoS+dvw==</latexit>
10 dB

<latexit sha1_base64="TTayh8bFsZByJx56CkMM5RkpiXQ=">AAACBHicbVDLSgMxFM34rPU16rKbYFFcSJmpBV0W3LisYB/QGYdMmmlD8xiSjFCGLtz4K25cKOLWj3Dn35g+Ftp6IOFwzr03uSdOGdXG876dldW19Y3NwlZxe2d3b989OGxpmSlMmlgyqTox0oRRQZqGGkY6qSKIx4y04+H1xG8/EKWpFHdmlJKQo76gCcXIWClyS4HkpI8iAU8DKmDX9+6r5/bKL8Zh5Ja9ijcFXCb+nJTBHI3I/Qp6EmecCIMZ0tpOS02YI2UoZmRcDDJNUoSHqE+6lgrEiQ7z6RJjeGKVHkykskcYOFV/d+SIaz3isa3kyAz0ojcR//O6mUmuwpyKNDNE4NlDScagkXCSCOxRRbBhI0sQVtT+FeIBUggbm1vRhuAvrrxMWtWK71X821q5XpvHUQAlcAzOgA8uQR3cgAZoAgwewTN4BW/Ok/PivDsfs9IVZ95zBP7A+fwBzYiWNQ==</latexit>
!n 2 [102 , 103 ]
Fundamentals of Control
Fedback Control for Trajectory Tracking <latexit sha1_base64="3oSk6DNuEkGOvzu//4N3O24b0zM=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t2FZoQ9lsJu3azSbsboQS+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBVcG9f9dkobm1vbO+Xdyt7+weFR9fikq5NMMeywRCTqIaAaBZfYMdwIfEgV0jgQ2Asmt3O/94RK80Tem2mKfkxHkkecUWOldjis1ty6uwBZJ15BalCgNax+DcKEZTFKwwTVuu+5qfFzqgxnAmeVQaYxpWxCR9i3VNIYtZ8vDp2RC6uEJEqULWnIQv09kdNY62kc2M6YmrFe9ebif14/M9GNn3OZZgYlWy6KMkFMQuZfk5ArZEZMLaFMcXsrYWOqKDM2m4oNwVt9eZ10r+qeW/fajVqzUcRRhjM4h0vw4BqacAct6AADhGd4hTfn0Xlx3p2PZWvJKWZO4Q+czx/Ds4za</latexit>
<latexit
d
r s+z 1 y
k
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<latexit

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- z s2
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<latexit

<latexit sha1_base64="JsO9PSk+pgKJ95VyD85VJ+h8LS0=">AAAB+HicbVBNS8NAEJ31s9aPRj16WSyCIJRECnosePFYwX5AG8pmu2mXbjZhdyO0Ib/EiwdFvPpTvPlv3LY5aOuDgcd7M8zMCxLBtXHdb7SxubW9s1vaK+8fHB5VnOOTto5TRVmLxiJW3YBoJrhkLcONYN1EMRIFgnWCyd3c7zwxpXksH800YX5ERpKHnBJjpYFT6YeK0EzjKzzLs1k+cKpuzV0ArxOvIFUo0Bw4X/1hTNOISUMF0brnuYnxM6IMp4Ll5X6qWULohIxYz1JJIqb9bHF4ji+sMsRhrGxJgxfq74mMRFpPo8B2RsSM9ao3F//zeqkJb/2MyyQ1TNLlojAV2MR4ngIecsWoEVNLCFXc3orpmNgkjM2qbEPwVl9eJ+3rmufWvId6tVEv4ijBGZzDJXhwAw24hya0gEIKz/AKb2iGXtA7+li2bqBi5hT+AH3+AH5mku0=</latexit> <latexit sha1_base64="R7VjAzHY9wXzNdqxDEaD6MHLCo0=">AAAB9HicbVBNS8NAEJ34WetX1aOXxSJ4Kkkp6LHgxWMF+wFtLJvtpl262cTdSaGE/g4vHhTx6o/x5r9x2+agrQ8GHu/NMDMvSKQw6Lrfzsbm1vbObmGvuH9weHRcOjltmTjVjDdZLGPdCajhUijeRIGSdxLNaRRI3g7Gt3O/PeHaiFg94DThfkSHSoSCUbSS3ws1ZZk3y8xjddYvld2KuwBZJ15OypCj0S999QYxSyOukElqTNdzE/QzqlEwyWfFXmp4QtmYDnnXUkUjbvxscfSMXFplQMJY21JIFurviYxGxkyjwHZGFEdm1ZuL/3ndFMMbPxMqSZErtlwUppJgTOYJkIHQnKGcWkKZFvZWwkbU5oA2p6INwVt9eZ20qhXPrXj3tXK9lsdRgHO4gCvw4BrqcAcNaAKDJ3iGV3hzJs6L8+58LFs3nHzmDP7A+fwBxRySCg==</latexit>

<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit
n

• Disturbance attenuation

Y (j!d )
 80 dB
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D(j!d ) dB

|G(j!d )|dB
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80 dB

2 1
!d 2 [10
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, 10 ]
Fundamentals of Control
Fedback Control for Trajectory Tracking
w
<latexit sha1_base64="NAQk8BOV1fhc4DfY0SJO2dUfsuA=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t2A9oQ9lsJ+3azSbsbpQS+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBFcG9f9dgobm1vbO8Xd0t7+weFR+fikreNUMWyxWMSqG1CNgktsGW4EdhOFNAoEdoLJ7dzvPKLSPJb3ZpqgH9GR5CFn1Fip+TQoV9yquwBZJ15OKpCjMSh/9YcxSyOUhgmqdc9zE+NnVBnOBM5K/VRjQtmEjrBnqaQRaj9bHDojF1YZkjBWtqQhC/X3REYjradRYDsjasZ61ZuL/3m91IQ3fsZlkhqUbLkoTAUxMZl/TYZcITNiagllittbCRtTRZmx2ZRsCN7qy+ukfVX13KrXrFXqtTyOIpzBOVyCB9dQhztoQAsYIDzDK7w5D86L8+58LFsLTj5zCn/gfP4A4H+M7Q==</latexit>
<latexit

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<latexit
d
r s+z 1 y
k
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<latexit

<latexit sha1_base64="oIEopfHZLTeBs4F8fTQT40CK8aU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t2FZoQ9lsJ+3azSbsboQQ+gu8eFDEqz/Jm//GbZuDtj4YeLw3w8y8IBFcG9f9dkobm1vbO+Xdyt7+weFR9fikq+NUMeywWMTqIaAaBZfYMdwIfEgU0igQ2Aumt3O/94RK81jemyxBP6JjyUPOqLFSOxtWa27dXYCsE68gNSjQGla/BqOYpRFKwwTVuu+5ifFzqgxnAmeVQaoxoWxKx9i3VNIItZ8vDp2RC6uMSBgrW9KQhfp7IqeR1lkU2M6Imole9ebif14/NeGNn3OZpAYlWy4KU0FMTOZfkxFXyIzILKFMcXsrYROqKDM2m4oNwVt9eZ10r+qeW/fajVqzUcRRhjM4h0vw4BqacAct6AADhGd4hTfn0Xlx3p2PZWvJKWZO4Q+czx/jh4zv</latexit>

- z s2
<latexit sha1_base64="Y7nvWusshyjs5k51WkMa3m3BAO8=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSazosV9yquwTZJF5OKpCjOSx/DUYxSyOUhgmqdd9zE+NnVBnOBM5Lg1RjQtmUjrFvqaQRaj9bHjonV1YZkTBWtqQhS/X3REYjrWdRYDsjaiZ63VuI/3n91IS3fsZlkhqUbLUoTAUxMVl8TUZcITNiZgllittbCZtQRZmx2ZRsCN76y5ukc1P13KrXqlUatTyOIlzAJVyDB3VowD00oQ0MEJ7hFd6cR+fFeXc+Vq0FJ585hz9wPn8Azk+M4Q==</latexit>
<latexit

<latexit sha1_base64="JsO9PSk+pgKJ95VyD85VJ+h8LS0=">AAAB+HicbVBNS8NAEJ31s9aPRj16WSyCIJRECnosePFYwX5AG8pmu2mXbjZhdyO0Ib/EiwdFvPpTvPlv3LY5aOuDgcd7M8zMCxLBtXHdb7SxubW9s1vaK+8fHB5VnOOTto5TRVmLxiJW3YBoJrhkLcONYN1EMRIFgnWCyd3c7zwxpXksH800YX5ERpKHnBJjpYFT6YeK0EzjKzzLs1k+cKpuzV0ArxOvIFUo0Bw4X/1hTNOISUMF0brnuYnxM6IMp4Ll5X6qWULohIxYz1JJIqb9bHF4ji+sMsRhrGxJgxfq74mMRFpPo8B2RsSM9ao3F//zeqkJb/2MyyQ1TNLlojAV2MR4ngIecsWoEVNLCFXc3orpmNgkjM2qbEPwVl9eJ+3rmufWvId6tVEv4ijBGZzDJXhwAw24hya0gEIKz/AKb2iGXtA7+li2bqBi5hT+AH3+AH5mku0=</latexit> <latexit sha1_base64="R7VjAzHY9wXzNdqxDEaD6MHLCo0=">AAAB9HicbVBNS8NAEJ34WetX1aOXxSJ4Kkkp6LHgxWMF+wFtLJvtpl262cTdSaGE/g4vHhTx6o/x5r9x2+agrQ8GHu/NMDMvSKQw6Lrfzsbm1vbObmGvuH9weHRcOjltmTjVjDdZLGPdCajhUijeRIGSdxLNaRRI3g7Gt3O/PeHaiFg94DThfkSHSoSCUbSS3ws1ZZk3y8xjddYvld2KuwBZJ15OypCj0S999QYxSyOukElqTNdzE/QzqlEwyWfFXmp4QtmYDnnXUkUjbvxscfSMXFplQMJY21JIFurviYxGxkyjwHZGFEdm1ZuL/3ndFMMbPxMqSZErtlwUppJgTOYJkIHQnKGcWkKZFvZWwkbU5oA2p6INwVt9eZ20qhXPrXj3tXK9lsdRgHO4gCvw4BrqcAcNaAKDJ3iGV3hzJs6L8+58LFs3nHzmDP7A+fwBxRySCg==</latexit>

<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit
n
• Wind disturbance rejection
wind disturbance
1
Y (s) = D(s) + [W (s) + k(s + z)(R(s) Y (s) N (s))]
<latexit sha1_base64="CamYmuVdCSlZlgVf0hotzC38bhE=">AAACNXicbVDLSgMxFM3UV62vqks3wSK0FMtMEXQjCLpwIVLF2pbOWDJppg3NPEjuCHXoT7nxP1zpwoUibv0FM20Xvg6Ee3LOvST3uJHgCkzz2cjMzM7NL2QXc0vLK6tr+fWNaxXGkrI6DUUomy5RTPCA1YGDYM1IMuK7gjXcwXHqN26ZVDwMrmAYMccnvYB7nBLQUid/1iqqEj7EJ2kpY9uThCbWKFE31RG2BfOg3ZhYg6Iq35Vw8TK97uLWpJzrUsK25L0+OJ18wayYY+C/xJqSApqi1sk/2t2Qxj4LgAqiVNsyI3ASIoFTwUY5O1YsInRAeqytaUB8ppxkvPUI72ili71Q6hMAHqvfJxLiKzX0Xd3pE+ir314q/ue1Y/AOnIQHUQwsoJOHvFhgCHEaIe5yySiIoSaESq7/immf6OBAB53TIVi/V/5LrqsVy6xYF3uFo71pHFm0hbZREVloHx2hU1RDdUTRPXpCr+jNeDBejHfjY9KaMaYzm+gHjM8vZn+lIQ==</latexit>
s2

s2 1 C(s)
Y (s) = 2 D(s) + 2 W (s) + 2 (R(s) N (s))
s + C(s) s + C(s) s + C(s)
<latexit sha1_base64="r7l64ArQaw2pPIpAfADUkwNP0Dg=">AAACR3icbZBLSwMxFIUz9VXra9Slm2ARWoplphR0IxTqwpVUsQ9ppyWTZmxo5kGSEcrQf+fGrTv/ghsXirg0Mx2wtl5IcjjfvSQ5dsCokIbxqmVWVtfWN7Kbua3tnd09ff+gJfyQY9LEPvN5x0aCMOqRpqSSkU7ACXJtRtr2uB7z9iPhgvrenZwExHLRg0cdipFU1kDv3xdEEV7AnsMRjkS/Mo23Ul25U3gZs1LKzDnSngeJ88sKtzE8hdfqKA70vFE2koLLwkxFHqTVGOgvvaGPQ5d4EjMkRNc0AmlFiEuKGZnmeqEgAcJj9EC6SnrIJcKKkhym8EQ5Q+j4XC1PwsSdn4iQK8TEtVWni+RILLLY/I91Q+mcWxH1glASD88uckIGpQ/jUOGQcoIlmyiBMKfqrRCPkApHquhzKgRz8cvLolUpm0bZvKnma9U0jiw4AsegAExwBmrgCjRAE2DwBN7AB/jUnrV37Uv7nrVmtHTmEPypjPYDMhyrdQ==</latexit>

lim y(t) = lim sY (s)


<latexit sha1_base64="YrJd50/d7vzoGFwkmDWBY9JrAtA=">AAACInicbVDLSsNAFJ34rPUVdelmsAjtpiRSUBdCwY3LCvYhTSmT6aQdOpmEmRslhH6LG3/FjQtFXQl+jNPHorYeuHA4517uvcePBdfgON/Wyura+sZmbiu/vbO7t28fHDZ0lCjK6jQSkWr5RDPBJasDB8FasWIk9AVr+sPrsd98YErzSN5BGrNOSPqSB5wSMFLXvvQED7sZeIr3B0CUih49LgNIR2kRSvgKT3095zsjfV/Upa5dcMrOBHiZuDNSQDPUuvan14toEjIJVBCt264TQycjCjgVbJT3Es1iQoekz9qGShIy3ckmL47wqVF6OIiUKQl4os5PZCTUOg190xkSGOhFbyz+57UTCC46GZdxAkzS6aIgERgiPM4L97hiFERqCKGKm1sxHRBFKJhU8yYEd/HlZdI4K7tO2b2tFKqVWRw5dIxOUBG56BxV0Q2qoTqi6Am9oDf0bj1br9aH9TVtXbFmM0foD6yfX8fKpPM=</latexit>
t!1 s!0

• Does the system reject a constant wind disturbance ?


Fundamentals of Control
Experimental results

45
Fundamentals of Control
Fedback Control for Trajectory Tracking
3. Combine r3d with <latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

<latexit sha1_base64="y+H3V3BBPyKLhYFgogWMbaZTh1A=">AAAB7XicbVBNSwMxEJ3Ur1q/qh69BIsgHsquFPRY8OKxgv2Adi3ZNNvGZpMlyQpl6X/w4kERr/4fb/4b03YP2vpg4PHeDDPzwkRwYz3vGxXW1jc2t4rbpZ3dvf2D8uFRy6hUU9akSijdCYlhgkvWtNwK1kk0I3EoWDsc38z89hPThit5bycJC2IylDzilFgntXqJ4Q8X/XLFq3pz4FXi56QCORr98ldvoGgaM2mpIMZ0fS+xQUa05VSwaamXGpYQOiZD1nVUkpiZIJtfO8VnThngSGlX0uK5+nsiI7Exkzh0nTGxI7PszcT/vG5qo+sg4zJJLZN0sShKBbYKz17HA64ZtWLiCKGau1sxHRFNqHUBlVwI/vLLq6R1WfW9qn9Xq9RreRxFOIFTOAcfrqAOt9CAJlB4hGd4hTek0At6Rx+L1gLKZ47hD9DnDzu8jtg=</latexit>
⇤ to define a desired attitude Rd <latexit sha1_base64="N+9fgzEIAI4Y99PZO0MfA5Oy/LA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPBi8f60Q9oQ9lsJu3SzSbsboQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IBVcG9f9dkpr6xubW+Xtys7u3v5B9fCorZNMMWyxRCSqG1CNgktsGW4EdlOFNA4EdoLxzczvPKHSPJGPZpKiH9Oh5BFn1Fjp4X4QDqo1t+7OQVaJV5AaFGgOql/9MGFZjNIwQbXueW5q/Jwqw5nAaaWfaUwpG9Mh9iyVNEbt5/NTp+TMKiGJEmVLGjJXf0/kNNZ6Ege2M6ZmpJe9mfif18tMdO3nXKaZQckWi6JMEJOQ2d8k5AqZERNLKFPc3krYiCrKjE2nYkPwll9eJe2LuufWvbvLWuOyiKMMJ3AK5+DBFTTgFprQAgZDeIZXeHOE8+K8Ox+L1pJTzBzDHzifPxrijZ8=</latexit>


⇤ d =( d , ✓d , )
Rd = f (r3d , ) =? or ⇤
( d , ✓d ) = g(r3d , ) =?
<latexit sha1_base64="ZUnl5xlPtw27Ti2rpm1jvhGmlA0=">AAACA3icbVDLSgNBEOyNrxhfq970MhiEKBJ2NaAXMeDFYxTzgCQus7OzZsjsg5lZISwBL/6KFw+KePUnvPk3TpI9aGJBQ1HVTXeXG3MmlWV9G7m5+YXFpfxyYWV1bX3D3NxqyCgRhNZJxCPRcrGknIW0rpjitBULigOX06bbvxz5zQcqJIvCWzWIaTfA9yHzGcFKS465c+N46Bz5JeGkJ97wqBNLdnd4oKULxyxaZWsMNEvsjBQhQ80xvzpeRJKAhopwLGXbtmLVTbFQjHA6LHQSSWNM+vietjUNcUBlNx3/MET7WvGQHwldoUJj9fdEigMpB4GrOwOsenLaG4n/ee1E+WfdlIVxomhIJov8hCMVoVEgyGOCEsUHmmAimL4VkR4WmCgdW0GHYE+/PEsax2XbKtvXlWK1ksWRh13YgxLYcApVuIIa1IHAIzzDK7wZT8aL8W58TFpzRjazDX9gfP4AaL6VYg==</latexit>

<latexit sha1_base64="CX0gOGEnZ+NI+p4GdUWtl361DDw=">AAACPnicbVDLSsNAFJ34rPVVdelmsCitlJKooBux4MZlBaOFpobJZNoOnTyYuRFK6Je58RvcuXTjQhG3Lp2mKfg6MHA451zu3OPFgiswzSdjZnZufmGxsFRcXlldWy9tbF6rKJGU2TQSkWx5RDHBQ2YDB8FasWQk8AS78QbnY//mjknFo/AKhjHrBKQX8i6nBLTklmxH6LBPXB/vneKKE/e569ewA30GJGOx4rf7VccpTs2pVx1P9CrSTQ/9US3P4VN8hrFbKpt1MwP+S6yclFGOplt6dPyIJgELgQqiVNsyY+ikRAKngo2KTqJYTOiA9Fhb05AETHXS7PwR3tWKj7uR1C8EnKnfJ1ISKDUMPJ0MCPTVb28s/ue1E+iedFIexgmwkE4WdROBIcLjLrHPJaMghpoQKrn+K6Z9IgkF3XhRl2D9PvkvuT6oW2bdujwqN47yOgpoG+2gCrLQMWqgC9RENqLoHj2jV/RmPBgvxrvxMYnOGPnMFvoB4/ML9jeqpw==</latexit>

4. Define a control law for n to track the desired attitude Rd or <latexit sha1_base64="N+9fgzEIAI4Y99PZO0MfA5Oy/LA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0GPBi8f60Q9oQ9lsJu3SzSbsboQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IBVcG9f9dkpr6xubW+Xtys7u3v5B9fCorZNMMWyxRCSqG1CNgktsGW4EdlOFNA4EdoLxzczvPKHSPJGPZpKiH9Oh5BFn1Fjp4X4QDqo1t+7OQVaJV5AaFGgOql/9MGFZjNIwQbXueW5q/Jwqw5nAaaWfaUwpG9Mh9iyVNEbt5/NTp+TMKiGJEmVLGjJXf0/kNNZ6Ege2M6ZmpJe9mfif18tMdO3nXKaZQckWi6JMEJOQ2d8k5AqZERNLKFPc3krYiCrKjE2nYkPwll9eJe2LuufWvbvLWuOyiKMMJ3AK5+DBFTTgFprQAgZDeIZXeHOE8+K8Ox+L1pJTzBzDHzifPxrijZ8=</latexit> <latexit sha1_base64="5vbneubVin/6dittSF2mVojyhGI=">AAAB8HicbVDLSgMxFL1TX7W+qi7dBIvgqsxIQZcFNy4r2Ie0Q8lkMm1oHkOSEcrQr3DjQhG3fo47/8a0nYW2HggczjmX3HuilDNjff/bK21sbm3vlHcre/sHh0fV45OOUZkmtE0UV7oXYUM5k7RtmeW0l2qKRcRpN5rczv3uE9WGKflgpykNBR5JljCCrZMeB9xFYzyMh9WaX/cXQOskKEgNCrSG1a9BrEgmqLSEY2P6gZ/aMMfaMsLprDLIDE0xmeAR7TsqsaAmzBcLz9CFU2KUKO2etGih/p7IsTBmKiKXFNiOzao3F//z+plNbsKcyTSzVJLlR0nGkVVofj2KmabE8qkjmGjmdkVkjDUm1nVUcSUEqyevk85VPfDrwX2j1mwUdZThDM7hEgK4hibcQQvaQEDAM7zCm6e9F+/d+1hGS14xcwp/4H3+AK/lkEY=</latexit>
d

Ṙ = RS(!) ˙ = Q( , ✓)!
or n =?
J !˙ = S(!)J! + n J !˙ = S(!)J! + n
<latexit sha1_base64="/c2dXt4yxGWbKNHwmLdJDFo6wmA=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lE0ItY8OKxgmkLbSib7aRdutmE3Y1QQn+DFw+KePUHefPfuG1z0NYHA4/3ZpiZF6aCa+O6305pbX1jc6u8XdnZ3ds/qB4etXSSKYY+S0SiOiHVKLhE33AjsJMqpHEosB2O72Z++wmV5ol8NJMUg5gOJY84o8ZKviQ35LZfrbl1dw6ySryC1KBAs1/96g0SlsUoDRNU667npibIqTKcCZxWepnGlLIxHWLXUklj1EE+P3ZKzqwyIFGibElD5urviZzGWk/i0HbG1Iz0sjcT//O6mYmug5zLNDMo2WJRlAliEjL7nAy4QmbExBLKFLe3EjaiijJj86nYELzll1dJ66LuuXXv4bLWuCziKMMJnMI5eHAFDbiHJvjAgMMzvMKbI50X5935WLSWnGLmGP7A+fwBhjeNyA==</latexit>

<latexit sha1_base64="z909kFAEfOHpwNvkkWR/4OXBQZk=">AAACJ3icbVDLSgMxFM3UVx1fVZdugkWpiGVGCrpRCm6kq1rtAzpDyaRpG5rJDElGKEP/xo2/4kZQEV36J2baAbX1QODknHtvco8XMiqVZX0amYXFpeWV7Kq5tr6xuZXb3mnIIBKY1HHAAtHykCSMclJXVDHSCgVBvsdI0xteJX7znghJA36nRiFxfdTntEcxUlrq5C6dbqBgDR5ewNptwQl80kdH0HHMSmJM74l5An/cSiofQz0gbxWtCeA8sVOSBymqndyLnosjn3CFGZKybVuhcmMkFMWMjE0nkiREeIj6pK0pRz6RbjzZcwwPtNKFvUDowxWcqL87YuRLOfI9XekjNZCzXiL+57Uj1Tt3Y8rDSBGOpw/1IgZVAJPQYJcKghUbaYKwoPqvEA+QQFjpaE0dgj278jxpnBZtq2jflPLlUhpHFuyBfVAANjgDZXANqqAOMHgAT+AVvBmPxrPxbnxMSzNG2rML/sD4+gZsNqHx</latexit> <latexit sha1_base64="BoyucQC36HA4lMw+GYcZIsVpyjg=">AAACN3icbVA9SwNBEN3z2/gVtbRZDEpEDXciaCMINmIhCRoj5ILMbSbJ4t4Hu3NCCP4rG/+GnTYWitj6D9wkV2h0YOHNmzczOy9IlDTkus/O2PjE5NT0zGxubn5hcSm/vHJl4lQLrIpYxfo6AINKRlglSQqvE40QBgprwe1Jv167Q21kHF1SN8FGCO1ItqQAstRN/txvxsR9ZTuawDePeKXoJx2541MHCbb8OMQ2cN/PnfWFWWplu/yiOMy2+FlGb3M7sOCW3EHwv8DLQIFlUb7JP9m5Ig0xIqHAmLrnJtTogSYpFN7n/NRgAuIW2li3MIIQTaM3uPueb1imyVuxti8iPmB/dvQgNKYbBlYZAnXMaK1P/lerp9Q6bPRklKSEkRguaqWKU8z7JvKm1ChIdS0AoaX9Kxcd0CDIWp2zJnijJ/8FV3slzy15lf3C8X5mxwxbY+usyDx2wI7ZKSuzKhPsgb2wN/buPDqvzofzOZSOOVnPKvsVztc3/qao4w==</latexit>

(p⇤ , ṗ⇤ , p̈⇤ ) Position T


r3d
<latexit sha1_base64="VY97G6xxXdjEqQ1eigE95uxBcdU=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkoMeCF48t9AvaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/ncLW9s7uXnG/dHB4dHxSPj3r6DhVDNssFrHqBVSj4BLbhhuBvUQhjQKB3WB6v/C7T6g0j2XLzBL0IzqWPOSMGis1W8Nyxa26S5BN4uWkAjkaw/LXYBSzNEJpmKBa9z03MX5GleFM4Lw0SDUmlE3pGPuWShqh9rPloXNyZZURCWNlSxqyVH9PZDTSehYFtjOiZqLXvYX4n9dPTXjnZ1wmqUHJVovCVBATk8XXZMQVMiNmllCmuL2VsAlVlBmbTcmG4K2/vEk6N1XPrXrNWqVey+MowgVcwjV4cAt1eIAGtIEBwjO8wpvz6Lw4787HqrXg5DPn8AfO5w+rc4zK</latexit>
<latexit

<latexit sha1_base64="UayR05SfV/no5OYJiKWm1FKv+r8=">AAACA3icbZDLSgMxFIbP1Futt1F3ugkWoYqUGSnosuDGZQV7gXYsmTTTBjMXkjNCKQU3voobF4q49SXc+Tam7Sy09YfAx3/OSXJ+P5FCo+N8W7ml5ZXVtfx6YWNza3vH3t1r6DhVjNdZLGPV8qnmUkS8jgIlbyWK09CXvOnfX03qzQeutIijWxwm3AtpPxKBYBSN1bUPSsnd6Rnp9GIkGWV40rWLTtmZiiyCm0ERMtW69pe5hqUhj5BJqnXbdRL0RlShYJKPC51U84Sye9rnbYMRDbn2RtMdxuTYOD0SxMqcCMnU/T0xoqHWw9A3nSHFgZ6vTcz/au0Ug0tvJKIkRR6x2UNBKgnGZBII6QnFGcqhAcqUMH8lbEAVZWhiK5gQ3PmVF6FxXnadsntTKVYrWRx5OIQjKIELF1CFa6hBHRg8wjO8wpv1ZL1Y79bHrDVnZTP78EfW5w9ZwJVc</latexit>

Controller
<latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

Attitude Rotational Translational


( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics r3d Dynamics
<latexit sha1_base64="Vu/BhDQXSNJ5rksYttTezvBsnYk=">AAAB6HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mkUI8FLx5bsB/QhrLZTtq1m03Y3Qgl9Bd48aCIV3+SN/+N2zYHbX0w8Hhvhpl5QSK4Nq777RS2tnd294r7pYPDo+OT8ulZR8epYthmsYhVL6AaBZfYNtwI7CUKaRQI7AbTu4XffUKleSwfzCxBP6JjyUPOqLFSSw7LFbfqLkE2iZeTCuRoDstfg1HM0gilYYJq3ffcxPgZVYYzgfPSINWYUDalY+xbKmmE2s+Wh87JlVVGJIyVLWnIUv09kdFI61kU2M6Imole9xbif14/NeGtn3GZpAYlWy0KU0FMTBZfkxFXyIyYWUKZ4vZWwiZUUWZsNiUbgrf+8ibp3FQ9t+q1apVGLY+jCBdwCdfgQR0acA9NaAMDhGd4hTfn0Xlx3p2PVWvByWfO4Q+czx/S24zk</latexit>
<latexit

<latexit sha1_base64="P8+tAbiPSaCCc2S4H+zULmpXkYI=">AAACDHicbVDLSgMxFL1TX7W+qi7dBItQRcqMFHRZcOOygn1AO5ZMmmlDMw+SO0Ip/QA3/oobF4q49QPc+Tem7UC19UDg3HPuTXKPF0uh0ba/rczK6tr6RnYzt7W9s7uX3z+o6yhRjNdYJCPV9KjmUoS8hgIlb8aK08CTvOENrid+44ErLaLwDocxdwPaC4UvGEUjdfKFYjvW4v7snLS7EZJ5Ma9OTZddsqcgy8RJSQFSVDv5L3MZSwIeIpNU65Zjx+iOqELBJB/n2onmMWUD2uMtQ0MacO2OpsuMyYlRusSPlDkhkqn6e2JEA62HgWc6A4p9vehNxP+8VoL+lTsSYZwgD9nsIT+RBCMySYZ0heIM5dAQypQwfyWsTxVlaPLLmRCcxZWXSf2i5Ngl57ZcqJTTOLJwBMdQBAcuoQI3UIUaMHiEZ3iFN+vJerHerY9Za8ZKZw7hD6zPH5XmmV4=</latexit>

<latexit sha1_base64="k3udR1VbZEEZteRTPuXYpNnr+KM=">AAAB7XicbVDLSgNBEOz1GeMr6tHLYBA8hV0N6DHgxWME84BkCbOzs8mYeSwzs0JY8g9ePCji1f/x5t84SfagiQUNRVU33V1Rypmxvv/tra1vbG5tl3bKu3v7B4eVo+O2UZkmtEUUV7obYUM5k7RlmeW0m2qKRcRpJxrfzvzOE9WGKflgJykNBR5KljCCrZPaepBfxdNBperX/DnQKgkKUoUCzUHlqx8rkgkqLeHYmF7gpzbMsbaMcDot9zNDU0zGeEh7jkosqAnz+bVTdO6UGCVKu5IWzdXfEzkWxkxE5DoFtiOz7M3E/7xeZpObMGcyzSyVZLEoyTiyCs1eRzHTlFg+cQQTzdytiIywxsS6gMouhGD55VXSvqwFfi24r1cb9SKOEpzCGVxAANfQgDtoQgsIPMIzvMKbp7wX7937WLSuecXMCfyB9/kDhFiPCA==</latexit>

(R, !)
(p, ṗ)
<latexit sha1_base64="KZ47aNJbLjHCsci8nCuG+4Z45lI=">AAAB8XicbVDLSgMxFL3js9ZX1aWbYBEqSJmRgi4LblxWsA9sh5JJM21oJjMkd4Qy9C/cuFDErX/jzr8xbWehrQcCh3PuIfeeIJHCoOt+O2vrG5tb24Wd4u7e/sFh6ei4ZeJUM95ksYx1J6CGS6F4EwVK3kk0p1EgeTsY38789hPXRsTqAScJ9yM6VCIUjKKVHivJZW8QI0ku+qWyW3XnIKvEy0kZcjT6pS+bZGnEFTJJjel6boJ+RjUKJvm02EsNTygb0yHvWqpoxI2fzTeeknOrDEgYa/sUkrn6O5HRyJhJFNjJiOLILHsz8T+vm2J442dCJSlyxRYfhakkGJPZ+WQgNGcoJ5ZQpoXdlbAR1ZShLaloS/CWT14lrauq51a9+1q5XsvrKMApnEEFPLiGOtxBA5rAQMEzvMKbY5wX5935WIyuOXnmBP7A+fwBQ0mP8A==</latexit>
<latexit sha1_base64="tJ/N8Bkinl/ZoXh5/cnJ/W3XbKw=">AAAB8XicbVDLSgNBEOyNrxhfUY9eBoMQQcKuBPQY8OIxinlgsoTZyWwyZB7LzKwQQv7CiwdFvPo33vwbJ8keNLGgoajqprsrSjgz1ve/vdza+sbmVn67sLO7t39QPDxqGpVqQhtEcaXbETaUM0kblllO24mmWESctqLRzcxvPVFtmJIPdpzQUOCBZDEj2DrpsXx/0VWCDvB5r1jyK/4caJUEGSlBhnqv+NXtK5IKKi3h2JhO4Cc2nGBtGeF0WuimhiaYjPCAdhyVWFATTuYXT9GZU/ooVtqVtGiu/p6YYGHMWESuU2A7NMveTPzP66Q2vg4nTCappZIsFsUpR1ah2fuozzQllo8dwUQzdysiQ6wxsS6kggshWH55lTQvK4FfCe6qpVo1iyMPJ3AKZQjgCmpwC3VoAAEJz/AKb57xXrx372PRmvOymWP4A+/zB2EqkAQ=</latexit>
Fundamentals of Control
Fedback Control for Trajectory Tracking
• Linearize model about hover condition 0 = [0 0 ⇤ T
]
˙ = Q( , ✓)! !0 = [0 0 0]T
J !˙ =
<latexit sha1_base64="BoyucQC36HA4lMw+GYcZIsVpyjg=">AAACN3icbVA9SwNBEN3z2/gVtbRZDEpEDXciaCMINmIhCRoj5ILMbSbJ4t4Hu3NCCP4rG/+GnTYWitj6D9wkV2h0YOHNmzczOy9IlDTkus/O2PjE5NT0zGxubn5hcSm/vHJl4lQLrIpYxfo6AINKRlglSQqvE40QBgprwe1Jv167Q21kHF1SN8FGCO1ItqQAstRN/txvxsR9ZTuawDePeKXoJx2541MHCbb8OMQ2cN/PnfWFWWplu/yiOMy2+FlGb3M7sOCW3EHwv8DLQIFlUb7JP9m5Ig0xIqHAmLrnJtTogSYpFN7n/NRgAuIW2li3MIIQTaM3uPueb1imyVuxti8iPmB/dvQgNKYbBlYZAnXMaK1P/lerp9Q6bPRklKSEkRguaqWKU8z7JvKm1ChIdS0AoaX9Kxcd0CDIWp2zJnijJ/8FV3slzy15lf3C8X5mxwxbY+usyDx2wI7ZKSuzKhPsgb2wN/buPDqvzofzOZSOOVnPKvsVztc3/qao4w==</latexit>
S(!)J! + n <latexit sha1_base64="1+AJHCHZHRCj4OKXOge8ftzpiXY=">AAACNXicbVBLSwMxGMz6rPW16tFLsCjioWSloBeh4MWDhwp9QXe7ZLNpG5pklyQrlNI/5cX/4UkPHhTx6l8wfRxs65DAMDMfyTdRypk2CL05K6tr6xubua389s7u3r57cFjXSaYIrZGEJ6oZYU05k7RmmOG0mSqKRcRpI+rfjv3GI1WaJbJqBikNBO5K1mEEGyuF7r3PbTjGIYJnN7CFfGiPn2rWvgjaVd/P+4mg3XkbTR25JIZuARXRBHCZeDNSADNUQvfFjxOSCSoN4VjrlodSEwyxMoxwOsr7maYpJn3cpS1LJRZUB8PJ1iN4apUYdhJlrzRwov6dGGKh9UBENimw6elFbyz+57Uy07kOhkymmaGSTB/qZByaBI4rhDFTlBg+sAQTxexfIelhhYmxRedtCd7iysukfln0UNF7KBXKpVkdOXAMTsA58MAVKIM7UAE1QMATeAUf4NN5dt6dL+d7Gl1xZjNHYA7Ozy91YKUV</latexit>
n0 = [0 0 0]T

• Given a equilibrium point f (x0 , u0 ) = 0


recall that for ẋ = f (x, u)
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@f @f
ẋ = x+ u
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@x eq @u eq

• Again a double integrator if J is diagonal


˙ = !
J !˙ = n
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• PD controller n= n=
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k1 ( d) k2 !
Fundamentals of Control
Fedback Control for Trajectory Tracking
(p⇤ , ṗ⇤ , p̈⇤ )
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Position T
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<latexit

Controller r3d
Attitude Rotational Translational
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( ⇤
, ˙ ⇤ , ¨⇤ ) n
Controller Dynamics r3 Dynamics
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<latexit

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(R, !)
(p, ṗ)
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• Simplified SISO model


• Bandwidth of inner-loop system 5 to 10 times higher
than bandwidth of outer-loop system.

r 1 1 y
kp + kv s k + k! s
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- - s2 s2
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Fundamentals of Control
Fedback Control for Trajectory Tracking
• Bandwidth of inner-loop system 5 to 10 times C1 (s) = kp + kv s
higher than bandwidth of outer-loop system. C2 (s) = k + k! s
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C1 (s) = 5(s + 1)
C1 (s) = 5(s + 1) C2 (s) = 3(s + 2.5)
C1 (s) = 5(s + 1) <latexit sha1_base64="CybG/Ive9xRnjJen9noOYkNsLAY=">AAACDnicbZDLSsNAFIYnXmu8RV26GSyVFiEktUU3QqEblxXsBZoQJtNJO3RyYWYilNAncOOruHGhiFvX7nwbp20W2vrDwM93zuHM+f2EUSEt61tbW9/Y3Nou7Oi7e/sHh8bRcUfEKcekjWMW856PBGE0Im1JJSO9hBMU+ox0/XFzVu8+EC5oHN3LSULcEA0jGlCMpEKeUWp6dllU4PkNrJfFhV1xHL3pVXN0qVDVrFc8o2iZ1lxw1di5KYJcLc/4cgYxTkMSScyQEH3bSqSbIS4pZmSqO6kgCcJjNCR9ZSMUEuFm83OmsKTIAAYxVy+ScE5/T2QoFGIS+qozRHIklmsz+F+tn8rg2s1olKSSRHixKEgZlDGcZQMHlBMs2UQZhDlVf4V4hDjCUiWoqxDs5ZNXTadq2pZp39WKjVoeRwGcgjNQBja4Ag1wC1qgDTB4BM/gFbxpT9qL9q59LFrXtHzmBPyR9vkD+4KWUg==</latexit>

C2 (s) = 10(s + 2.5)


<latexit sha1_base64="TAWKl0mJQ8nuPy5NIR1LGD6xw1s=">AAACD3icbZDLSgMxFIYz9VbH26hLN8FiaRGGSWnRjVDoxmUFe4FOGTJp2oZmLiQZoQx9Aze+ihsXirh16863MW1noa0/BH6+cw4n5/djzqRynG8jt7G5tb2T3zX39g8Oj6zjk7aMEkFoi0Q8El0fS8pZSFuKKU67saA48Dnt+JPGvN55oEKyKLxX05j2AzwK2ZARrDTyrGLDQyVZhsUbWCvJS1R2XbPhVTKEHM0qdq3sWQXHdhaC6wZlpgAyNT3ryx1EJAloqAjHUvaQE6t+ioVihNOZ6SaSxphM8Ij2tA1xQGU/XdwzgxeaDOAwEvqFCi7o74kUB1JOA193BliN5WptDv+r9RI1vO6nLIwTRUOyXDRMOFQRnIcDB0xQovhUG0wE03+FZIwFJkpHaOoQ0OrJ66ZdsZFjo7tqoV7N4siDM3AOSgCBK1AHt6AJWoCAR/AMXsGb8WS8GO/Gx7I1Z2Qzp+CPjM8fbpOWig==</latexit>
C2 (s) = 3(s + 2.5)
<latexit sha1_base64="CybG/Ive9xRnjJen9noOYkNsLAY=">AAACDnicbZDLSsNAFIYnXmu8RV26GSyVFiEktUU3QqEblxXsBZoQJtNJO3RyYWYilNAncOOruHGhiFvX7nwbp20W2vrDwM93zuHM+f2EUSEt61tbW9/Y3Nou7Oi7e/sHh8bRcUfEKcekjWMW856PBGE0Im1JJSO9hBMU+ox0/XFzVu8+EC5oHN3LSULcEA0jGlCMpEKeUWp6dllU4PkNrJfFhV1xHL3pVXN0qVDVrFc8o2iZ1lxw1di5KYJcLc/4cgYxTkMSScyQEH3bSqSbIS4pZmSqO6kgCcJjNCR9ZSMUEuFm83OmsKTIAAYxVy+ScE5/T2QoFGIS+qozRHIklmsz+F+tn8rg2s1olKSSRHixKEgZlDGcZQMHlBMs2UQZhDlVf4V4hDjCUiWoqxDs5ZNXTadq2pZp39WKjVoeRwGcgjNQBja4Ag1wC1qgDTB4BM/gFbxpT9qL9q59LFrXtHzmBPyR9vkD+4KWUg==</latexit>
Bibliography:

Rita Cunha, notes of Unmanned Aerial Systems, IST, 2020-2021.

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