Singularities of Euler and Roll-Pitch-Yaw Representations

Marcelo H. Ang, Vassilios D. Tourassis

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

Euler and roll-pitch-yaw angles are routinely used to represent the orientation of rigid bodies in aerospace, navigation, and robotics because they minimize the dimensionality of the control problem. Both representations, however, introduce unwarranted mathematical singularities which are identified in this paper. Trajectory-tracking algorithms break down at singularities and cause loss of control. Since mathematical singularities do not reflect physical limitations of orientation, remedial measures can be implemented in the controller.

Original languageEnglish
Pages (from-to)317-324
Number of pages8
JournalIEEE Transactions on Aerospace and Electronic Systems
VolumeAES-23
Issue number3
DOIs
Publication statusPublished - 1987
Externally publishedYes

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Computer Networks and Communications

Cite this

Singularities of Euler and Roll-Pitch-Yaw Representations. / Ang, Marcelo H.; Tourassis, Vassilios D.

In: IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-23, No. 3, 1987, p. 317-324.

Research output: Contribution to journalArticle

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