Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3)

Rakesh R. Warier, Amit Sanyal, Mani H. Dhullipalla, Sasi Prabhakaran Viswanathan

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

1 Citation (Scopus)

Abstract

In this paper, an integrated guidance and control scheme for finite-time position and pointing direction tracking of a class of underactuated vehicles is presented. The underactuated vehicle is considered to be a rigid body with translational control applied only along a fixed body frame direction and rotational control that can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the vehicle has six degrees of freedom and only four degrees of freedom actuated; thus the system as a whole is underactuated. This model is representative of a number of commonly used aerial vehicles including quadrotors, vertical take-off and landing (VTOL) aircraft, fixed-wing aerial vehicles and spacecraft. The guidance and control problem is formulated in the space of the special Euclidean group of rigid body motions, SE(3), using the framework of geometric mechanics. The proposed control ensures that the difference between the actual and the desired position trajectory is stabilized to zero in finite time. Additionally, through the proposed feedback control, the specified pointing vector in the body-fixed frame of the vehicle tracks the desired pointing direction in finite time. Almost global finite-time stability of the overall closed-loop system over the state space is shown analytically and illustrated through numerical simulations.

Original languageEnglish (US)
Title of host publication2018 Indian Control Conference, ICC 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages190-195
Number of pages6
Volume2018-January
ISBN (Electronic)9781538629048
DOIs
StatePublished - Mar 7 2018
Event4th Indian Control Conference, ICC 2018 - Kanpur, India
Duration: Jan 4 2018Jan 6 2018

Other

Other4th Indian Control Conference, ICC 2018
CountryIndia
CityKanpur
Period1/4/181/6/18

Fingerprint

Trajectory Tracking
Trajectories
Guidance
Degree of freedom
Finite-time Stability
Co-ordinate axis
Rigid Body Motion
Global Stability
Spacecraft
Rigid Body
VTOL/STOL aircraft
Feedback Control
Antennas
Closed-loop System
Mechanics
Aircraft
Fixed wings
Control Problem
Euclidean
State Space

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Logic

Cite this

Warier, R. R., Sanyal, A., Dhullipalla, M. H., & Viswanathan, S. P. (2018). Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3). In 2018 Indian Control Conference, ICC 2018 - Proceedings (Vol. 2018-January, pp. 190-195). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIANCC.2018.8307976

Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3). / Warier, Rakesh R.; Sanyal, Amit; Dhullipalla, Mani H.; Viswanathan, Sasi Prabhakaran.

2018 Indian Control Conference, ICC 2018 - Proceedings. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 190-195.

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

Warier, RR, Sanyal, A, Dhullipalla, MH & Viswanathan, SP 2018, Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3). in 2018 Indian Control Conference, ICC 2018 - Proceedings. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 190-195, 4th Indian Control Conference, ICC 2018, Kanpur, India, 1/4/18. https://doi.org/10.1109/INDIANCC.2018.8307976
Warier RR, Sanyal A, Dhullipalla MH, Viswanathan SP. Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3). In 2018 Indian Control Conference, ICC 2018 - Proceedings. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 190-195 https://doi.org/10.1109/INDIANCC.2018.8307976
Warier, Rakesh R. ; Sanyal, Amit ; Dhullipalla, Mani H. ; Viswanathan, Sasi Prabhakaran. / Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3). 2018 Indian Control Conference, ICC 2018 - Proceedings. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 190-195
@inproceedings{bc8045df23cc4629be393d0d4981421d,
title = "Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3)",
abstract = "In this paper, an integrated guidance and control scheme for finite-time position and pointing direction tracking of a class of underactuated vehicles is presented. The underactuated vehicle is considered to be a rigid body with translational control applied only along a fixed body frame direction and rotational control that can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the vehicle has six degrees of freedom and only four degrees of freedom actuated; thus the system as a whole is underactuated. This model is representative of a number of commonly used aerial vehicles including quadrotors, vertical take-off and landing (VTOL) aircraft, fixed-wing aerial vehicles and spacecraft. The guidance and control problem is formulated in the space of the special Euclidean group of rigid body motions, SE(3), using the framework of geometric mechanics. The proposed control ensures that the difference between the actual and the desired position trajectory is stabilized to zero in finite time. Additionally, through the proposed feedback control, the specified pointing vector in the body-fixed frame of the vehicle tracks the desired pointing direction in finite time. Almost global finite-time stability of the overall closed-loop system over the state space is shown analytically and illustrated through numerical simulations.",
author = "Warier, {Rakesh R.} and Amit Sanyal and Dhullipalla, {Mani H.} and Viswanathan, {Sasi Prabhakaran}",
year = "2018",
month = "3",
day = "7",
doi = "10.1109/INDIANCC.2018.8307976",
language = "English (US)",
volume = "2018-January",
pages = "190--195",
booktitle = "2018 Indian Control Conference, ICC 2018 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Finite-time stable trajectory tracking and pointing control for a class of underactuated vehicles in SE(3)

AU - Warier, Rakesh R.

AU - Sanyal, Amit

AU - Dhullipalla, Mani H.

AU - Viswanathan, Sasi Prabhakaran

PY - 2018/3/7

Y1 - 2018/3/7

N2 - In this paper, an integrated guidance and control scheme for finite-time position and pointing direction tracking of a class of underactuated vehicles is presented. The underactuated vehicle is considered to be a rigid body with translational control applied only along a fixed body frame direction and rotational control that can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the vehicle has six degrees of freedom and only four degrees of freedom actuated; thus the system as a whole is underactuated. This model is representative of a number of commonly used aerial vehicles including quadrotors, vertical take-off and landing (VTOL) aircraft, fixed-wing aerial vehicles and spacecraft. The guidance and control problem is formulated in the space of the special Euclidean group of rigid body motions, SE(3), using the framework of geometric mechanics. The proposed control ensures that the difference between the actual and the desired position trajectory is stabilized to zero in finite time. Additionally, through the proposed feedback control, the specified pointing vector in the body-fixed frame of the vehicle tracks the desired pointing direction in finite time. Almost global finite-time stability of the overall closed-loop system over the state space is shown analytically and illustrated through numerical simulations.

AB - In this paper, an integrated guidance and control scheme for finite-time position and pointing direction tracking of a class of underactuated vehicles is presented. The underactuated vehicle is considered to be a rigid body with translational control applied only along a fixed body frame direction and rotational control that can be applied along all three body-fixed coordinate axes. The combined rotational and translational motion of the vehicle has six degrees of freedom and only four degrees of freedom actuated; thus the system as a whole is underactuated. This model is representative of a number of commonly used aerial vehicles including quadrotors, vertical take-off and landing (VTOL) aircraft, fixed-wing aerial vehicles and spacecraft. The guidance and control problem is formulated in the space of the special Euclidean group of rigid body motions, SE(3), using the framework of geometric mechanics. The proposed control ensures that the difference between the actual and the desired position trajectory is stabilized to zero in finite time. Additionally, through the proposed feedback control, the specified pointing vector in the body-fixed frame of the vehicle tracks the desired pointing direction in finite time. Almost global finite-time stability of the overall closed-loop system over the state space is shown analytically and illustrated through numerical simulations.

UR - http://www.scopus.com/inward/record.url?scp=85050650812&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85050650812&partnerID=8YFLogxK

U2 - 10.1109/INDIANCC.2018.8307976

DO - 10.1109/INDIANCC.2018.8307976

M3 - Conference contribution

AN - SCOPUS:85050650812

VL - 2018-January

SP - 190

EP - 195

BT - 2018 Indian Control Conference, ICC 2018 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

ER -