Energy-based positioning control of underactuated vehicles using manifold regulation
Renton, Christopher & Perez, Tristan (2013) Energy-based positioning control of underactuated vehicles using manifold regulation. In Ljubo, Vlacic, Jakubek, Stefan M., & Indiveri, Giovanni (Eds.) Proceedings of the 8th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2013), The International Federation of Automatic Control (IFAC), Sofitel Gold Coast, Gold Coast, QLD, pp. 9-16.
In this paper, we consider the problem of position regulation of a class of underactuated rigid-body vehicles that operate within a gravitational field and have fully-actuated attitude. The control objective is to regulate the vehicle position to a manifold of dimension equal to the underactuation degree. We address the problem using Port-Hamiltonian theory, and reduce the associated matching PDEs to a set of algebraic equations using a kinematic identity. The resulting method for control design is constructive. The point within the manifold to which the position is regulated is determined by the action of the potential field and the geometry of the manifold. We illustrate the performance of the controller for an unmanned aerial vehicle with underactuation degree two-a quadrotor helicopter.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 IFA|
|Deposited On:||02 May 2014 00:50|
|Last Modified:||05 May 2014 02:23|
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