Discrete-time Stable Tracking Control of Underactuated Rigid Body Systems on SE(3)

Reza Hamrah, Rakesh R. Warier, Amit K. Sanyal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper presents a discrete-time stable tracking control scheme for an underactuated vehicle modeled as a rigid body. This energy-based control scheme guarantees discrete-time stability of the feedback system. The underactuated vehicle is characterized by four control inputs for the six degrees of freedom of rigid body motion. These control inputs actuate the three degrees of freedom (DOF) of rotational motion and one degree of freedom of translational motion in a vehicle body-fixed coordinate frame. The actuated translational DOF corresponds to a body-fixed thrust direction. The stability analysis of translational and rotational motion of the vehicle are addressed separately, and it is shown that the total energy-like quantity of the system is decreasing in discrete time. This leads to discrete-time control laws that achieve asymptotically stable tracking of desired position and attitude trajectories.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2932-2937
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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