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This paper shows a detailed modeling process for a hexacopter, taking as a control variables, the force and torques actuating on the vehicle. It also shows the hexacopter equilibrium manifold, with some numerical results that evidence the symmetry along the x and y axis. Finally, a nonlinear optimal control problem is formulated in order to see the hexacopter maneuverability capabilities, showing...
The present publication is focussed on the application of the immersion and invariance (I&I) control methodology on a pneumatic actuator. The utilization of I&I for tracking control is investigated and a tracking theorem is explicitly provided and proved. Based on this theorem, a tracking controller for the nonlinear system is designed. Furthermore, in order to deal with unknown parameters,...
Recently, [1] put forward a multi-body representation for modeling and control of formations of marine craft. In this paper, the same line of reasoning is taken one step further and the method is generalized for the cases that include speed assignment tasks. The proposed algorithm is then applied to design a novel path-following controller, in which the control objectives are formulated using virtual...
This paper proposes a feedback control method for the in-plane motion of a satellite equipped with two thrusters, whose force directions are fixed to the satellite. The satellite's equations of motion have second-order nonholonomic constraints. This paper utilizes an invariant manifold and develops a feedback controller based on the Lyapunov's second method. The developed controller can control the...
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