Jesús and Héctor have written a tutorial for aligning 3D unicycles with partially known vector fields using geometric controllers

Jesús and Héctor have written a tutorial for aligning 3D unicycles with partially known vector fields using geometric controllers. We have digested concepts that are not so common in robotics with very explicit examples. This technical note aims to introduce geometric controllers to roboticists bridging some gaps between theory and practice.

Tutorial: SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields.