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Robust global trajectory tracking for a class of underactuated vehicles
Casau P.3; Sanfelice R.G.2; Cunha R.3; Cabecinhas D.3; Silvestre C.1
2015
Source PublicationAutomatica
ISSN00051098
Volume58Pages:90-98
Abstract

In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position trajectory while minimizing the angular distance to a desired orientation. This objective is achieved robustly, with respect to bounded state disturbances, and globally, in the sense that it is achieved regardless of the initial state of the vehicle. The proposed controller is tested in an experimental setup, using a small scale quadrotor vehicle and a motion capture system.

KeywordApplication Of Nonlinear Analysis And Design Guidance Navigation And Control Of Vehicles Hybrid Control Systems Robust Control Of Nonlinear Systems
DOI10.1016/j.automatica.2015.05.011
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000357226400014
PublisherPERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
Fulltext Access
Citation statistics
Cited Times [WOS]:18   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.University of California, Santa Cruz
3.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Casau P.,Sanfelice R.G.,Cunha R.,et al. Robust global trajectory tracking for a class of underactuated vehicles[J]. Automatica,2015,58:90-98.
APA Casau P.,Sanfelice R.G.,Cunha R.,Cabecinhas D.,&Silvestre C..(2015).Robust global trajectory tracking for a class of underactuated vehicles.Automatica,58,90-98.
MLA Casau P.,et al."Robust global trajectory tracking for a class of underactuated vehicles".Automatica 58(2015):90-98.
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