Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles

By Reza Olfati-Saber. 2001

668 citations recorded by the source corpus.

View Paper: https://www.semanticscholar.org/paper/835cf1de8ef1cc236afe237d3d4d42225cc6c1b6

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Citations in the corpus

Robust adaptive path following of underactuated ships (2002, background): “Several authors have studied the tracking control problem in position and orientation of underactuated surface ships [1-8].”
Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control (2016, background): “Assumption A2 implies that the shape coordinates coincide with the un-actuated coordinates and are referred as “Class II" systems in [15].”
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor (2005, background): “2, the equations of motion for the helicopter can be written as in [4]:”
design and control of quadrotors with application to autonomous flying (2007, result): “This confirms the results of a previous study on underactuated systems [39].”
Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics (2009, background): “Backstepping control design is effective for a class of underactuated systems [9, 30].”
Flight PID controller design for a UAV quadrotor (2010, methodology): “Though these methods were rather successful in local analysis of nonlinear systems affine in control they usually fail to work for a global analysis and nonlinear systems that are non-affine in control (Olfati-Saber, 2001).”
An integral predictive/nonlinear Hinfinity control structure for a quadrotor helicopter (2010, methodology): “The rotational kinematics can be obtained from the relationship between the rotation matrix and its derivative with a skewsymmetric matrix (Craig, 1989; Olfati-Saber, 2001) as follows:”
Design and control of an indoor micro quadrotor (2004, background): “Table 11 gives a rapid idea about Quadrotor's advantages and drawbacks.”
Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots (2011, methodology): “As a ﬁrst attempt, an integral backstepping methodology was implemented to achieve attitude stabilization (Olfati-Saber, 2001).”
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems (2012, unknown): “Early theoretical work on using backstepping techniques to design nonlinear controllers for RUAS can be found in Frazzoli et al. (2000), Mahony, Hamel, and Dzul (1999) and Olfati-Saber (2001).”