A Lyapunov-Based Approach for the Control of Biomimetic Robotic Systems With Periodic Forcing Inputs

Campolo, Domenico; Schenato, Luca; Guglielmelli, Eugenio; Sastry, S. Shankar

doi:10.3182/20050703-6-cz-1902.01376

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…The irst tracking control algorithm considered herein is obtained in applying the feedback control de ined in Eq. (10).…”

Section: 𝑉( X ȳ) = X2 + ȳ2mentioning

confidence: 99%

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Lyapunov‐Lasalle Based Dynamic Stabilization for Fixed Wing Drones

Sawma,

Ajami,

Maillot

et al. 2024

JAMRIS

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The market of Unmanned Aerial Vehicles (UAVs) for civil applications is extensively growing. Indeed, these airplanes are nowadays widely used in applications such as data gathering, agriculture monitoring and rescue. The UAVs are required to track a fixed or moving object, thus tracking control algorithms that ensure the system stability and that have a quick time response are developed. This paper tackles the problem of supervising a fixed target using a ϐixed wing UAV flying at a constant altitude and a constant speed. For that purpose, three control algorithms are developed. In all of the algorithms, the UAV is expected to hover around the target in a circular trajectory. Moreover, the three approaches are based upon a Lyapunov‑LaSalle stabilization method. The first tracking algorithm ensures the UAV to circle around the target however the path that the UAV will follow in order to join this pattern is not studied. In the second and third approach, two different techniques that allow the UAV to intercept its final circular pattern in the quickest possible time and thus follow the tangent to the circular pattern are presented. Simulation results that show and compare the performances of the proposed methods are presented.

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“…The irst tracking control algorithm considered herein is obtained in applying the feedback control de ined in Eq. (10).…”

Section: 𝑉( X ȳ) = X2 + ȳ2mentioning

confidence: 99%

“…The Lyapunov method has been used by several authors, in different ways, such as in [10,13,15,17] and [19]. Lyapunov strategies presented in the literature are not always completely smooth and the inal curvature is a bit smaller than the maximum curvature.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov‐Lasalle Based Dynamic Stabilization for Fixed Wing Drones

Sawma,

Ajami,

Maillot

et al. 2024

JAMRIS

View full text Add to dashboard Cite

show abstract

“…The Lyapunov method has been used by several authors, in different ways such as for example [15,16,20,22,24,28,33,35,50]. Here we present an original Lyapunov strategy, serving the advantage to be completely smooth, very simple to apply, and with the peculiarity that the circular final manifold is with exactly minimum turning radius.…”

Section: Lyapunov-lasalle-based Stabilizationmentioning

confidence: 99%

Lyapunov and Minimum-Time Path Planning for Drones

et al. 2014

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In this paper, we study the problem of controlling an unmanned aerial vehicle (UAV) to provide a target supervision and/or to provide convoy protection to ground vehicles.We first present a control strategy based upon a Lyapunov-LaSalle stabilization method to provide supervision of a stationary target. The UAV is expected to join a pre-designed admissible circular trajectory around the target which is itself a fixed point in the space.Our strategy is presented for both HALE (High Altitude Long Endurance) and MALE (Medium Altitude Long Endurance) types UAVs. A UAV flying at a constant altitude (HALE type) is modeled as a Dubins vehicle (i.e. a planar vehicle with constrained turning radius and constant forward velocity). For a UAV that might change its altitude (MALE type), we use the general kinematic model of a rigid body evolving in R 3 . Both control strategies presented are smooth and unlike what is usually proposed in the literature these strategies asymptotically track a circular trajectory of exact minimum turning radius.We also present the time-optimal control synthesis for tracking a circle by a Dubins vehicle. This optimal strategy, although much simpler than the point-to-point time-optimal strategy obtained by P. Souères and J.-P. Laumond in the 1990s (see [45]), is very rich.Finally, we propose control strategies to provide supervision of a moving target, that are based upon the previous ones.

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