Feedback tracking control schemes for a class of underactuated vehicles in SE(3)

Rakesh R. Warier, Amit K. Sanyal, Srikant Sukumar, Sasi Prabhakaran Viswanathan

Research output: Chapter in Book/Entry/PoemConference contribution

8 Scopus citations


A trajectory tracking control scheme for a class of underactuated vehicles is presented here. The underactuated vehicle is modeled as a rigid body to which control thrust is applied along a single body-fixed axis and control torque can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the rigid body is underactuated with the degree of underactuation two. Such an actuation scheme is reflective of a wide range of vehicles such as vertical take-off and landing (VTOL) aircraft, fixed-wing aircraft, and quadcopter uncrewed aerial vehicles (UAVs). For this class of underactuated vehicles, the proposed controller gives exponential stabilization of the position tracking error. Additionally, the component of the angular velocity parallel to the thrust direction, is regulated to be zero under the proposed control scheme. The other two components of the angular velocity track desired profiles that lead to exponential stabilization of the desired position trajectory; this angular velocity tracking control scheme is finite time stable. The combination of these schemes leads to guaranteed exponential stability of the overall feedback control scheme. A set of numerical simulation results that illustrate the performance of the overall feedback tracking control scheme is provided.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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