M. AICARDI

A novel strategy to design time invariant motion controllers for underactuated mobile systems is applied to the position and attitude control of an underactuated 3D vehicle. The idea consists in defining a velocity vector field such that an ideal, fully actuated system would exponentially achieve the control objective by simply following such...

In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting...