DocumentCode
1784149
Title
Robust tracking control for underactuated autonomous vehicles using feedback linearization
Author
Maithripala, D.H.S. ; Berg, J.M.
Author_Institution
Dept. of Mech. Eng., Univ. of Peradeniya, Peradeniya, Sri Lanka
fYear
2014
fDate
8-11 July 2014
Firstpage
446
Lastpage
451
Abstract
We present a feedback linearization control for almost global output-feedback tracking for a class of underactuated vehicles, with guaranteed stable zero dynamics and zero steady-state tracking error in the absence of uncertainties. We show that the control has significant robustness to parameter variations and unmodelled bounded forces and moments. The potential benefits of the approach are illustrated with simulations.
Keywords
autonomous aerial vehicles; feedback; helicopters; linearisation techniques; robot dynamics; robust control; vehicle dynamics; feedback linearization control; global output-feedback tracking; parameter variations; quadrotor UAVs; robust tracking control; stable zero dynamics; underactuated autonomous vehicles; unmodelled bounded forces; unmodelled bounded moments; zero steady-state tracking error; Convergence; Dynamics; Robustness; Three-dimensional displays; Trajectory; Uncertainty; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location
Besacon
Type
conf
DOI
10.1109/AIM.2014.6878118
Filename
6878118
Link To Document