Consiglio Nazionale delle Ricerche

Tipo di prodottoContributo in atti di convegno
TitoloAttitude and position tracking of autonomous 6 d.o.f. vehicles with mono-directonal actuators
Anno di pubblicazione2016
FormatoElettronico
Autore/iArrichiello, V.; Bartolini, G.; Pisano, A.; Punta, E.; Usai, E.; Zolezzi, T.
Affiliazioni autoriCNR-IEIIT; Univ Cagliari; Univ Genoa
Autori CNR e affiliazioni
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Lingua/e
  • inglese
AbstractIn this work we address the position and attitude control problems for autonomous vehicles in 6 Degrees of Freedom (DOFs), with monodirectional actuators and whose mathematical description includes uncertainties and disturbances. Quaternion-based guidance rules are proposed for attitude and position control at the kinematic level. The actuation system consists of seven monodirectional jets, suitably located and oriented along the vehicle, and it is the first known example of a regular 6 DOFs simplex of vectors in the control space. To set the thrusts exerted by the jets, a strategy based on a dynamical version of the simplex-based control approach is suggested. The proposed simplex based approach is endowed by a suitable mechanism that prevents the unbounded growth of the thrusts. The performance of the proposed scheme is verified by means of computer simulations.
Lingua abstractinglese
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Pagine da80
Pagine a85
Pagine totali6
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Verificato da refereeSì: Internazionale
Stato della pubblicazionePublished version
Indicizzazione (in banche dati controllate)
  • ISI Web of Science (WOS) (Codice:000382818600013)
  • Scopus (Codice:2-s2.0-84980378767)
Parole chiaveAUV guidance and control, Mono-directional actuators, Quaternion-feedback, Simplex-based sliding mode control, Multi-input systems
Link (URL, URI)-
Titolo convegno/congressoThe 14th IEEE International Workshop on Variable Structure Systems (VSS 2016)
Luogo convegno/congressoNanjing, CHINA
Data/e convegno/congresso01-04/06/2016
RilevanzaInternazionale
RelazioneContributo
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Strutture CNR
  • IEIIT — Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni
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