发表机构
New Jersey Institute of Technology（新泽理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种基于管状邻域几何分解的内蕴路径跟随方法，实现全驱动刚体姿态动力学的切向-横向独立控制，并保证局部一致指数稳定。
AI 中文摘要
本文研究全驱动刚体姿态动力学在一大类姿态路径（即 $\mathsf{SO}(3)$ 上的任意光滑嵌入闭曲线）上的内蕴路径跟随问题。我们利用法丛和拉回丛几何在管状邻域上构造切向-横向状态分解。由此得到的二阶动力学允许一个光滑反馈变换，该变换独立地分配切向和横向协变加速度。一个横向比例-微分律使得路径跟随流形不变，并在一个显式的前向不变邻域上局部一致指数稳定，同时切向动力学可自由分配。这允许独立调节沿路径的进展、稳定路径上的选定姿态或跟踪时变运动。对于一条代表性纤维路径，管状坐标以闭式形式获得，直至自然的割迹障碍，仿真结果展示了点稳定和轨迹跟踪。
英文摘要
This paper studies intrinsic path following for fully actuated rigid-body attitude dynamics over a broad class of attitude paths, namely arbitrary smooth embedded closed curves on $\mathsf{SO}(3)$. We construct a tangential--transverse state decomposition on a tubular neighborhood using normal and pullback bundle geometry. The resulting second-order dynamics admit a smooth feedback transformation that independently assigns tangential and transverse covariant accelerations. A transverse proportional--derivative law renders the path-following manifold invariant and locally uniformly exponentially stable on an explicit forward-invariant neighborhood, while leaving the tangential dynamics freely assignable. This allows independent regulation of progression along the path, stabilization of a selected attitude on the path, or tracking of a time-varying motion. For a representative fiber path, the tubular coordinates are obtained in closed form up to the natural cut-locus obstruction, and simulations illustrate point stabilization and trajectory tracking.
Comments8 pages, 2 figures
