Name
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. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ACC.2013.6579873 | American Control Conference |
Keywords | Field | DocType |
Lyapunov methods,asymptotic stability,torque,trajectory control,1D force actuation,angular velocity,backstepping techniques,global asymptotic stabilization,global trajectory tracking,hybrid controller,position tracking error,saturated control law,synergistic Lyapunov functions,torque actuation,underactuated vehicles | Lyapunov function,Backstepping,Control theory,Torque,Computer science,Control theory,Control engineering,Underactuation,Thrust,Trajectory,Tracking error | Conference |
ISSN | ISBN | Citations |
0743-1619 | 978-1-4799-0177-7 | 11 |
PageRank | References | Authors |
0.80 | 21 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Casau, P. | 1 | 11 | 0.80 |
| Ricardo G. Sanfelice | 2 | 216 | 27.88 |
| Rita Cunha | 3 | 159 | 24.55 |
| Cabecinhas, D. | 4 | 28 | 2.48 |