TY - GEN
T1 - Discrete-time Stable Tracking Control of Underactuated Rigid Body Systems on SE(3)
AU - Hamrah, Reza
AU - Warier, Rakesh R.
AU - Sanyal, Amit K.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2018.8618870
DO - 10.1109/CDC.2018.8618870
M3 - Conference contribution
AN - SCOPUS:85062186394
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2932
EP - 2937
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -