Title :
Balanced-force-control of underactuated thrust-propelled vehicles
Author :
Hua, Minh-Duc ; Morin, Pascal ; Samson, Claude
Author_Institution :
INRIA, Sophia-Antipolis
Abstract :
The paper sets the basics of a control framework for underactuated thrust-propelled vehicles immersed in a fluid, with the objective of stabilizing reference trajectories either in velocity or in position.
Keywords :
control system synthesis; force control; position control; vehicles; velocity control; balanced force control; control design; positional velocity; reference trajectory stabilization; translational velocity; underactuated thrust-propelled vehicles; Actuators; Airplanes; Automatic control; Control systems; Force control; Helicopters; Marine vehicles; Sliding mode control; Space vehicles; Velocity control;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434268
