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Global trajectory tracking for a class of underactuated vehicles
Casau P.2; Sanfelice R.G.3; Cunha R.2; Cabecinhas D.2; Silvestre C.1
2013-09-11
Conference NameAmerican Control Conference (ACC)
Source PublicationProceedings of the American Control Conference
Pages419-424
Conference DateJUN 17-19, 2013
Conference PlaceWashington, DC
CountryUSA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

In this paper, we address the problem of trajectory tracking for a class of underactuated vehicles with full torque actuation and only one dimensional force actuation (thrust). For this class of vehicles, the desired thrust is defined by a saturated control law that achieves global asymptotic stabilization of the position tracking error. The proposed control law also assures that the third component of the angular velocity is regulated to zero. To accomplish this task we propose a hybrid controller that is designed using backstepping techniques and recent developments on synergistic Lyapunov functions. Simulations validating the results are also provided. © 2013 AACC American Automatic Control Council.

URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000327210200070
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被引频次[WOS]:17   [WOS记录]     [WOS相关记录]
Document TypeConference paper
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
3.University of Arizona
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Casau P.,Sanfelice R.G.,Cunha R.,et al. Global trajectory tracking for a class of underactuated vehicles[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2013:419-424.
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