Passivity-based Pose Synchronization under Disturbances in Three Dimensions

Abstract

In this paper, we propose a pose synchronization law on SE(3) under disturbances. First, we present a control law which uses partial information of disturbance models. Then, we show that rigid body motion has incremental passivity-like property and prove that the proposed control law achieves disturbance rejection with pose synchronization on SE(3). We also show that our results are reduced to disturbance rejection with attitude synchronization on SO(3) with only relative information. Finally, we demonstrate the validity of the control law by simulations. Additionally, we build a planar (2-D) testbed and show its efficiency.