典型文献
Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space
文献摘要：
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.
文献关键词：
中图分类号：
作者姓名：
Xiaodong He;Zhiyong Sun;Zhiyong Geng;Anders Robertsson
作者机构：
State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Engineering Science,College of Engineering,Peking University,Beijing 100871,China;Department of Electrical Engineering,Eindhoven University of Technology(TU/e),5600 MB Eindhoven,the Netherlands;Department of Automatic Control,LTH,Lund University,22100 Lund,Sweden
文献出处：
引用格式：
[1]Xiaodong He;Zhiyong Sun;Zhiyong Geng;Anders Robertsson-.Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space)[J].自动化学报（英文版）,2022(02):270-282
A类：
Underactuated,underactuation
B类：
Exponential,Set,Point,Stabilization,Vehicles,Moving,Three,Dimensional,Space,This,paper,investigates,stabilization,underactuated,vehicles,moving,three,dimensional,vector,space,model,established,matrix,Lie,group,SE,which,describes,configuration,rigid,bodies,globally,uniquely,We,focus,kinematic,features,form,that,has,no,sway,heave,velocity,To,compensate,lack,these,two,velocities,we,construct,additional,rotation,matrices,generate,motion,coupled,translation,Then,state,feedback,designed,help,logarithmic,map,prove,proposed,law,can,exponentially,identity,element,almost,domain,attraction,Later,presented,strategy,extended,set,point,sense,stabilized,arbitrary,desired,specified,advance,Finally,simulation,examples,are,provided,verify,effectiveness,controller
AB值：
0.653355
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