Geometric control of aerial vehicle attitude dynamics employs mathematical frameworks based on manifolds and Lie groups to design feedback laws for the orientation of rigid bodies in three dimensions.
M. Keppler and A. De Luca, "On Time-Optimal Control of Elastic Joints under Input Constraints," Published in: 2020 59th IEEE Conference on Decision and Control (CDC) DOI: 10.1109/CDC42340.2020.9304224 ...
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