Output-feedback control for almost global stabilization of fully-actuated rigid bodies

This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated considering the natural space for rigid body configurations, the Special Euclidean group SE(3). The proposed solution consists of an output-feedback controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is a stable attractor for all initial conditions except for those in a nowhere dense set of measure zero. As an additional feature, the controller is required to verify prescribed bounds on the actuation.