A velocity algorithm for the implementation of gain scheduled controllers with applications to rigid body motion control

Proposes a novel method of implementing gain scheduled controllers for rigid body motion control. This is a subject of considerable interest when realizing controllers for autonomous vehicles in order to achieve precise tracking of reference trajectories given in an inertial reference frame. The authors describe the implementation of tracking controllers that may be scheduled on the position, velocity and attitude of the rigid body, and provide a natural conversion of commands and measured output variables from an inertial frame to the body reference frame. This achieves automatic recruiting of the actuators, while preserving the properties of the original linear designs (linearization property)