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Lyapunov-based Generic Controller Design for Thrust-Propelled Underactuated Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-5840-3767
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
2016 (English)In: 2016 EUROPEAN CONTROL CONFERENCE (ECC), IEEE , 2016, p. 594-599Conference paper, Published paper (Refereed)
Abstract [en]

We present a controller for an underactuated system which is driven by a one dimensional linear acceleration/thrust along a direction vector, by a time-varying gravity, and by the angular acceleration of the direction vector. We propose state and time-dependent control laws for the linear and angular accelerations that guarantee that the position of the system is steered to the origin. The proposed control law depends on (i) a bounded control law for a double integrator system; and (ii) on a Lyapunov function that guarantees asymptotic stability of the origin for the double integrator system when controlled with the previous bounded control law. As such, the control law forms a family of control laws depending on (i) and (ii). The complete state space of the system, under the proposed control laws, has two equilibria, and by proper control design, a trajectory of the system is guaranteed to converge to only one of those. The overall design provides a common framework for controlling different systems, such as quadrotors and slung load transportation systems.

Place, publisher, year, edition, pages
IEEE , 2016. p. 594-599
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-242719DOI: 10.1109/ECC.2016.7810349ISI: 000392695300096Scopus ID: 2-s2.0-85006419261OAI: oai:DiVA.org:kth-242719DiVA, id: diva2:1290048
Conference
2016 European Control Conference (ECC) 29 June-1 July 2016
Note

QC 20190219

Available from: 2019-02-19 Created: 2019-02-19 Last updated: 2019-08-20Bibliographically approved

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Ótão Pereira, Pedro MiguelDimarogonas, Dimos V.

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