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Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions
Pedro Casau1,2; Christopher G. Mayhew3; Ricardo G. Sanfelice3; Carlos Silvestre1,4
2016-08-01
Conference Name2016 American Control Conference (ACC)
Source PublicationAmerican Control Conference (ACC), 2016
Volume2016-July
Pages6042-6047
Conference DateJUL 06-08, 2016
Conference PlaceBoston, MA, USA
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
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 ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000388376106017
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Citation statistics
Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Corresponding AuthorPedro Casau
Affiliation1.Laboratory of Robotics and Systems in Engineering and Science (LARSyS), University of Lisbon, Lisbon, Portugal
2.Department of Electrical and Computer Engineering, University of Macau, Macao, China
3.Department of Computer Engineering, University of California, Santa Cruz, CA
4.Instituto Superior Técnico/University of Lisbon, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Pedro Casau,Christopher G. Mayhew,Ricardo G. Sanfelice,et al. Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2016:6042-6047.
APA Pedro Casau,Christopher G. Mayhew,Ricardo G. Sanfelice,&Carlos Silvestre.(2016).Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions.American Control Conference (ACC), 2016,2016-July,6042-6047.
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