Adaptive control of a rigid body vehicle on exponential coordinates with guaranteed performance

Ehsan Arabi, Selahattin Burak Sarsilmaz, Tansel Yucelen, Mohammad Maadani, Eric A. Butcher, Morad Nazari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Adaptive control systems are widely used for compensating the effect of disturbances, system uncertainties, unmodeled dynamics, and changes in systemdynamics. In this paper, the problemof controlling an uncertain rigid body vehicle is investigated for tracking a desired trajectory, where the relative configuration is described in terms of exponential coordinates on the Lie group of rigid body motions. First, one of the existing nominal controllers, which provides coupled translational and rotational maneuvers, is augmented with an adaptive controller to suppress the effects of systemuncertainties. Second, in order to achieve a prescribed user-defined performance guarantee, nominal controller is augmented with set-theoretic adaptive controller to enforce the systemstate trajectory to evolve inside a-priori user-defined compact set. Finally, the efficacy of the presented theoretical results are demonstrated through an illustrative numerical example.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
Edition210039
ISBN (Print)9781624105265
DOIs
StatePublished - Jan 1 2018
EventAIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States
Duration: Jan 8 2018Jan 12 2018

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2018
Number210039

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2018
CountryUnited States
CityKissimmee
Period1/8/181/12/18

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Arabi, E., Sarsilmaz, S. B., Yucelen, T., Maadani, M., Butcher, E. A., & Nazari, M. (2018). Adaptive control of a rigid body vehicle on exponential coordinates with guaranteed performance. In AIAA Guidance, Navigation, and Control (210039 ed.). (AIAA Guidance, Navigation, and Control Conference, 2018; No. 210039). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2018-1106