Abstract
We present a trajectory tracking control scheme for a class of underactuated thrust propelled aerial vehicles. The class of aerial vehicles is modeled as a rigid body with a constant thrust direction in the body frame. The attitude of the rigid is fully actuated while only one translational degree of freedom is actuated. Thus, the combined translational and rotational motion is underactuated. The tracking control problem is solved in a two-step approach. First, a translational control scheme that tracks the desired position trajectory is constructed assuming the translational dynamics to be fully actuated. The magnitude of the translational control input is used as the magnitude of the control thrust. Second, the unit vector representing the direction of the translational control input is used as the desired thrust direction. An asymptotically stable attitude control scheme is developed in S2, such that the body fixed thrust direction tracks the desired thrust direction. The overall closed-loop system is analytically shown to be asymptotically tracking the desired position trajectory. The results are validated by numerical simulations.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 555-560 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 51 |
| Issue number | 13 |
| DOIs | |
| State | Published - Jan 1 2018 |
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Keywords
- Autonomous vehicles
- Nonlinear control
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Trajectory Tracking Control For Underactuated Thrust-Propelled Aerial Vehicles. / Warier, Rakesh R.; Sanyal, Amit; Dhullipalla, Mani H.; Viswanathan, Sasi Prabhakaran.
In: IFAC-PapersOnLine, Vol. 51, No. 13, 01.01.2018, p. 555-560.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Trajectory Tracking Control For Underactuated Thrust-Propelled Aerial Vehicles
AU - Warier, Rakesh R.
AU - Sanyal, Amit
AU - Dhullipalla, Mani H.
AU - Viswanathan, Sasi Prabhakaran
PY - 2018/1/1
Y1 - 2018/1/1
N2 - We present a trajectory tracking control scheme for a class of underactuated thrust propelled aerial vehicles. The class of aerial vehicles is modeled as a rigid body with a constant thrust direction in the body frame. The attitude of the rigid is fully actuated while only one translational degree of freedom is actuated. Thus, the combined translational and rotational motion is underactuated. The tracking control problem is solved in a two-step approach. First, a translational control scheme that tracks the desired position trajectory is constructed assuming the translational dynamics to be fully actuated. The magnitude of the translational control input is used as the magnitude of the control thrust. Second, the unit vector representing the direction of the translational control input is used as the desired thrust direction. An asymptotically stable attitude control scheme is developed in S2, such that the body fixed thrust direction tracks the desired thrust direction. The overall closed-loop system is analytically shown to be asymptotically tracking the desired position trajectory. The results are validated by numerical simulations.
AB - We present a trajectory tracking control scheme for a class of underactuated thrust propelled aerial vehicles. The class of aerial vehicles is modeled as a rigid body with a constant thrust direction in the body frame. The attitude of the rigid is fully actuated while only one translational degree of freedom is actuated. Thus, the combined translational and rotational motion is underactuated. The tracking control problem is solved in a two-step approach. First, a translational control scheme that tracks the desired position trajectory is constructed assuming the translational dynamics to be fully actuated. The magnitude of the translational control input is used as the magnitude of the control thrust. Second, the unit vector representing the direction of the translational control input is used as the desired thrust direction. An asymptotically stable attitude control scheme is developed in S2, such that the body fixed thrust direction tracks the desired thrust direction. The overall closed-loop system is analytically shown to be asymptotically tracking the desired position trajectory. The results are validated by numerical simulations.
KW - Autonomous vehicles
KW - Nonlinear control
UR - http://www.scopus.com/inward/record.url?scp=85052644072&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052644072&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.07.338
DO - 10.1016/j.ifacol.2018.07.338
M3 - Article
AN - SCOPUS:85052644072
VL - 51
SP - 555
EP - 560
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 13
ER -