• DocumentCode
    2900830
  • Title

    Trajectory tracking of a class of underactuated systems with external disturbances

  • Author

    Kobilarov, Marin

  • Author_Institution
    Johns Hopkins Univ., Baltimore, MD, USA
  • fYear
    2013
  • fDate
    17-19 June 2013
  • Firstpage
    1044
  • Lastpage
    1049
  • Abstract
    This paper considers trajectory tracking of vehicles modeled as underactuated rigid bodies. The goal is to obtain a simple and intuitive convergent controller that avoids issues with tuning gains or using coordinates associated with singularities. The main novelty lies in the derivation of a generally applicable control law that handles external disturbances.
  • Keywords
    aircraft control; convergence; trajectory control; external disturbances; intuitive convergent controller; trajectory tracking; underactuated rigid bodies; underactuated systems; vehicles; Backstepping; Force; Stability analysis; Symmetric matrices; Trajectory; Vectors; Vehicles;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference (ACC), 2013
  • Conference_Location
    Washington, DC
  • ISSN
    0743-1619
  • Print_ISBN
    978-1-4799-0177-7
  • Type

    conf

  • DOI
    10.1109/ACC.2013.6579974
  • Filename
    6579974
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2900830