Exponential stabilization of a vectored-thrust vehicle using synergistic potential functions

In this paper, we design a hybrid controller based on the concept of centrally synergistic potential functions on the n-dimensional sphere to achieve global tracking of an attitude reference as well as exponential stabilization of the position and velocity of a vectored-thrust vehicle. The proposed...

Full description

Saved in:
Bibliographic Details
Main Authors: Casau, Pedro, Mayhew, Christopher G., Sanfelice, Ricardo G., Silvestre, Carlos
Format: Conference Proceeding
Language:English
Subjects:
Attitude control
Computers
Conferences
Controllers
Electronic mail
Electronics
Robots
Rotorcraft
Simulation
Stabilization
Switches
Tracking (position)
Vehicles
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, we design a hybrid controller based on the concept of centrally synergistic potential functions on the n-dimensional sphere to achieve global tracking of an attitude reference as well as exponential stabilization of the position and velocity of a vectored-thrust vehicle. The proposed hybrid attitude controller renders a partial attitude reference globally exponentially stable, and the full attitude reference globally attractive and locally exponentially stable. This controller is then combined with a position controller for the quadrotor vehicle for tracking of a given reference. Simulation results are provided so as to demonstrate the performance of the proposed controller.
ISSN:2378-5861
DOI:10.1109/ACC.2016.7526618