double integrator
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Automatica ◽  
2022 ◽  
Vol 136 ◽  
pp. 110057
Author(s):  
Wenfeng Hu ◽  
Yi Cheng ◽  
Zhiyong Chen

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Kristian Maya-Gress ◽  
Jorge Álvarez ◽  
Raúl Villafuerte-Segura ◽  
Hugo Romero-Trejo ◽  
Miguel Bernal

In this work, a novel family of exact nonlinear control laws is developed for trajectory tracking of unmanned aerial vehicles. The proposed methodology exploits the cascade structure of the dynamic equations of most of these systems. In a first step, the vehicle position in Cartesian coordinates is controlled by means of fictitious inputs corresponding to the angular coordinates, which are fixed to a combination of computed torque and proportional-derivative elements. In a second step, the angular coordinates are controlled as to drive them to the desired fictitious inputs necessary for the first part, resulting in a double-integrator 3-input cascade control scheme. The proposal is put at test in two examples: 4-rotor and 8-rotor aircrafts. Numerical simulations of both plants illustrate the effectiveness of the proposed method, while real-time results of the first one confirm its applicability.


2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jiawei Wu ◽  
Yongguang Yu ◽  
Guojian Ren

In this paper, the containment control of heterogeneous MASs with multi-interactional leaders is addressed. The objective of the containment control is of two layers. The leaders converge to an expected form; subsequently, the followers enter the convex hull spanned by the leader’s final position. To achieve the goal, the dynamics of the leaders and the followers are modeled by a single integrator and a double integrator, respectively. A reduced-order transformation is employed to obtain the sufficient conditions for realizing the follower agents’ control. In this manner, the maximum allowed time delay is given. Moreover, based on the topological structure and matrix, it confirms that the followers are able to enter the expected convex hull. Finally, the numerical simulation reveals the effectiveness of the control strategy.


Author(s):  
Dzung Tran ◽  
David Casbeer ◽  
Eloy Garcia ◽  
Isaac E. Weintraub ◽  
Dejan Milutinović

Author(s):  
Dzung Tran ◽  
David Casbeer ◽  
Eloy Garcia ◽  
Isaac E. Weintraub ◽  
Dejan Milutinovic

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