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Berkane, Soulaimane; Abdessameud, Abdelkader; Tayebi, Abdelhamid

doi:10.1016/j.automatica.2017.04.001

Cited by 57 publications

(38 citation statements)

References 27 publications

(32 reference statements)

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“…By monitoring the difference between the value of the current function and the lowest possible value among all functions in the collection, it is possible to globally asymptotically stabilize a given reference by switching between gradientbased vector fields whenever a given amount is exceeded. This novel hybrid control technique spawned a plethora of contributions on global asymptotic stabilization on compact manifolds, including, most notably, the two-dimensional sphere [30], the three-dimensional sphere [31] and the special orthogonal group [32], [33]. It has also found applications in attitude stabilization [34], rigid-body vehicle stabilization and tracking [35], tracking for quadrotor vehicles [36] and obstacle avoidance [37].…”

Section: B Related Workmentioning

confidence: 99%

Hybrid Control for Robust and Global Tracking on Smooth Manifolds

Casau

Cunha

Sanfelice

et al. 2020

IEEE Trans. Automat. Contr.

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n this paper, we present a hybrid control strategy that allows for global asymptotic tracking of reference trajectories evolving on smooth manifolds, with nominal robustness. Two different versions of the hybrid controller are presented: one which allows for discontinuities of the plant input and a second one that removes the discontinuities via dynamic extension.n this paper, we present a hybrid control strategy that allows for global asymptotic tracking of reference trajectories evolving on smooth manifolds, with nominal robustness. Two different versions of the hybrid controller are presented: one which allows for discontinuities of the plant input and a second one that removes the discontinuities via dynamic extension.I that live in the given manifold. By taking an exosystem approach, we provide a general construction of a hybrid controller that guarantees global asymptotic stability of the zero tracking error set. The proposed construction relies on the existence of proper indicators and a transport map-like function for the given manifold. We provide a construction of these functions for the case where each chart in a smooth atlas for the manifold maps its domain onto the Euclidean space. We also provide conditions for exponential convergence to the zero tracking error set. To illustrate these properties, the proposed controller is exercised on three different compact manifolds -the two-dimensional sphere, the unit-quaternion group and the special orthogonal group of order three -and further applied to the problems of obstacle avoidance in the plane and global synchronization on the circle.

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Section: B Related Workmentioning

confidence: 99%

Hybrid Control for Robust and Global Tracking on Smooth Manifolds

Casau

Cunha

Sanfelice

et al. 2020

IEEE Trans. Automat. Contr.

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show abstract

“…The largest possible attraction basins under continuous feedback are almost global, i.e., excluding a zero-measure set, which corresponds to the stable manifolds of additional unstable equilibrium points [53]. However, global asymptotic stability can be achieved by using tools from hybrid dynamical systems, where hysteresis-based switching ensures that all trajectories converge to the desired equilibrium [49,50,52,[54][55][56][57].…”

Section: Introduction 1background and Motivationmentioning

confidence: 99%

Geometric Reduced-Attitude Control of Fixed-Wing UAVs

Coates

Fossen

2021

Applied Sciences

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This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere and that are independent of the yaw/heading angle. The angular velocity projected onto this vector is enforced to satisfy the coordinated-turn equation. We exploit model structure in the design and prove almost global asymptotic stability using Lyapunov-based tools. Slowly-varying aerodynamic disturbances are compensated for using adaptive backstepping. To emphasize the practical application of our result, we also establish the ultimate boundedness of the solutions under a simplified controller that only depends on rough estimates of the control-effectiveness matrix. The controller design can be used with state-of-the-art guidance systems for fixed-wing unmanned aerial vehicles (UAVs) and is implemented in the open-source autopilot ArduPilot for validation through realistic software-in-the-loop (SITL) simulations.

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“…With the recent advances in applications of unmanned aerial and underwater vehicles (e.g, UAVs, AUVs), the effective attitude control of these vehicles becomes crucial for their successful operation. Recent works in the area of attitude control have focused on the use of Lie group methods on the special orthogonal group SO(3) (the attitude configuration space) to study this control problem from a differential geometric perspective [1][2][3][4]. This is motivated by the fact that all existing parameterizations fail to represent the attitude of a rigid body both globally and uniquely, which results in control schemes that are either singular or exhibit some undesirable be-havior (e.g., unwinding phenomenon).…”

Section: Introductionmentioning

confidence: 99%

Constrained attitude maneuvers on SO(3): Rotation space sampling, planning and low-level control

2020

Self Cite

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In this paper, we propose a novel framework that provides a systematic strategy to regulate the rigid body attitude on SO(3) within a generic constrained attitude zone. The proposed control scheme consists of three components: sampling, planning and low-level control. Specifically, an overlapping cell-like sampling for the attitude configuration space SO(3) is built and further reformulated to a graph model. Based on this abstraction, a complete graph search algorithm is utilized to generate a feasible path in the graph model. Both sufficient and necessary conditions on finding a feasible path are presented. Furthermore, to facilitate the control design, the point-to-point path is transformed into a smooth reference trajectory along the geodesics. Finally, a saturated low-level control law is formulated to robustly track the desired trajectory. Simulations demonstrate the effectiveness of the proposed control approach.

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Hybrid global exponential stabilization on SO(3)

Cited by 57 publications

References 27 publications

Hybrid Control for Robust and Global Tracking on Smooth Manifolds

Hybrid Control for Robust and Global Tracking on Smooth Manifolds

Geometric Reduced-Attitude Control of Fixed-Wing UAVs

Constrained attitude maneuvers on SO(3): Rotation space sampling, planning and low-level control

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