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2008
IEEE

Underactuated point stabilization using predictive models with application to marine vehicles

10 years 3 months ago
Underactuated point stabilization using predictive models with application to marine vehicles
— Point stabilization of an underactuated vehicle is most often accomplished using a periodic time-varying control law, resulting in oscillatory trajectories. We present a two-stage algorithm that achieves point stabilization without oscillatory behavior. A low-level controller regulates as many outputs as available control inputs. The unregulated states are generally nonzero when the regulated states have converged, but for certain initial conditions the vehicle arrives at the origin of the state space using only the low-level controller. This set of initial conditions forms a manifold in the state space. A separate Lyapunov-based manifold convergence controller drives the vehicle states to this manifold so that the low-level controller can bring the vehicle to the origin. We provide experimental
Matthew Greytak, Franz Hover
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Matthew Greytak, Franz Hover
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