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
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;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878118
