In this paper, we address the problem of trajectory tracking for a class of underactuated vehicles with full torque actuation and only one dimensional force actuation (thrust). For this class of vehicles, the desired thrust is defined by a saturated control law that achieves global asymptotic stabilization of the position tracking error. The proposed control law also assures that the third component of the angular velocity is regulated to zero. To accomplish this task we propose a hybrid controller that is designed using backstepping techniques and recent developments on synergistic Lyapunov functions. Simulations validating the results are also provided. © 2013 AACC American Automatic Control Council.

In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust) that is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. We present the design of a hybrid controller that, under some given assumptions, is able to globally asymptotically stabilize the vehicle to a reference position trajectory while minimizing the angle to the desired attitude trajectory. This objective is achieved robustly and globally, in the sense that small perturbations do not lead to instability and it is achieved regardless of the initial state of the vehicle. The algorithm is tested in a experimental setup, using a small scale quadrotor vehicle and the VICON motion capture system.

In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position trajectory while minimizing the angular distance to a desired orientation. This objective is achieved robustly, with respect to bounded state disturbances, and globally, in the sense that it is achieved regardless of the initial state of the vehicle. The proposed controller is tested in an experimental setup, using a small scale quadrotor vehicle and a motion capture system.