Energy-based Positioning Control of Underactuated Vehicles using Manifold Regulation

Authors

Abstract

In this paper, we consider the problem of position regulation of a class of underactuated rigid-body vehicles that operate within a gravitational field and have fully-actuated attitude. The control objective is to regulate the vehicle position to a manifold of dimension equal to the underactuation degree. We address the problem using Port-Hamiltonian theory, and reduce the associated matching PDEs to a set of algebraic equations using a kinematic identity. The resulting method for control design is constructive. The point within the manifold to which the position is regulated is determined by the action of the potential field and the geometry of the manifold. We illustrate the performance of the controller for an unmanned aerial vehicle with underactuation degree two–-a quadrotor helicopter.

Keywords

autonomous vehicles, energy-based control, guidance and control, port-hamiltonian systems

Citation

Journal: IFAC Proceedings Volumes
Year: 2013
Volume: 46
Issue: 10
Pages: 9–16
Publisher: Elsevier BV
DOI: 10.3182/20130626-3-au-2035.00024
Note: 8th IFAC Symposium on Intelligent Autonomous Vehicles

BibTeX

@article{Renton_2013,
  title={{Energy-based Positioning Control of Underactuated Vehicles using Manifold Regulation}},
  volume={46},
  ISSN={1474-6670},
  DOI={10.3182/20130626-3-au-2035.00024},
  number={10},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Renton, Christopher and Perez, Tristan},
  year={2013},
  pages={9--16}
}

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References

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