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Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions
Casau P.1,2; Mayhew C.G.3; Sanfelice R.G.3; Silvestre C.1
2016-07-28
Conference NameAmerican Control Conference (ACC)
Source Publication2016 AMERICAN CONTROL CONFERENCE (ACC)
Volume2016-July
Pages6042-6047
Conference DateJUL 06-08, 2016
Conference PlaceBoston, MA
Abstract

In this paper, we design a hybrid controller based on the concept of centrally synergistic potential functions on the n-dimensional sphere to achieve global tracking of an attitude reference as well as exponential stabilization of the position and velocity of a vectored-thrust vehicle. The proposed hybrid attitude controller renders a partial attitude reference globally exponentially stable, and the full attitude reference globally attractive and locally exponentially stable. This controller is then combined with a position controller for the quadrotor vehicle for tracking of a given reference. Simulation results are provided so as to demonstrate the performance of the proposed controller.

DOI10.1109/ACC.2016.7526618
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000388376106017
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Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China
2.Univ Lisbon, Lab Robot & Syst Engn & Sci LARSyS, Inst Syst & Robot, Inst Super Tecn, P-1049001 Lisbon, Portugal
3.Univ Calif Santa Cruz, Dept Comp Engn, Santa Cruz, CA 95064 USA
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Casau P.,Mayhew C.G.,Sanfelice R.G.,et al. Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions[C],2016:6042-6047.
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