Predictor-based pose stabilization control for unmanned vehicles on SE(3) with actuator delay and saturation

This paper investigates the problem of predictor-based pose control framework for nonlinear systems on SE(3) subject to actuator delay and saturation. First, the exact predictive solution of the saturated pose-closed-loop system on SO(3)×R³ is proposed, based on which the predictor-based pose control law is established. Second, the integral predictive solution of the saturated pose-closed-loop system and the corresponding predictor-based control law are designed on SE(3) directly. Compared with the unmanned vehicles control on Euclidean space, the proposed control schemes not only guarantee that the predictor-based control laws are designed on nonlinear manifolds, but also ensure that the designed speed inputs satisfy the saturation constraint. Finally, the numerical simulations are provided to illustrate the effectiveness of the proposed theoretical results.