Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

doi:10.1109/JAS.2021.1004323

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	Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space
	Xiaodong He; Zhiyong Sun; Zhiyong Geng; Anders Robertsson
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:2 页码:270-282
关键词	Exponential stabilization logarithmic feedback matrix Lie group underactuated vehicle
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004323
英文摘要	This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector space. The vehicle’s model is established on the matrix Lie group SE(3), which describes the configuration of rigid bodies globally and uniquely. We focus on the kinematic model of the underactuated vehicle, which features an underactuation form that has no sway and heave velocity. To compensate for the lack of these two velocities, we construct additional rotation matrices to generate a motion of rotation coupled with translation. Then, the state feedback is designed with the help of the logarithmic map, and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of attraction. Later, the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in advance. Finally, simulation examples are provided to verify the effectiveness of the stabilization controller.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45989]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Xiaodong He,Zhiyong Sun,Zhiyong Geng,et al. Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(2):270-282.
APA	Xiaodong He,Zhiyong Sun,Zhiyong Geng,&Anders Robertsson.(2022).Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space.IEEE/CAA Journal of Automatica Sinica,9(2),270-282.
MLA	Xiaodong He,et al."Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space".IEEE/CAA Journal of Automatica Sinica 9.2(2022):270-282.