—A control approach is proposed for a class of underactuated vehicles in order to stabilize reference trajectories either in thrust direction, velocity, or position. The basic modeling assumption is that the vehicle is propulsed via a thrust force along a single body-fixed direction and that it has full torque actuation for attitude control (i.e. a typical… (More)
—A general control design approach for the stabilization of controllable driftless nonlinear systems on finite dimensional Lie groups is presented. The approach is based on the concept of bounded transverse functions, the existence of which is equivalent to the system's controllability. Its outcome is the practical stabilization of any trajectory, i.e., not… (More)
The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control… (More)
A constructive method for time-varying stabilization of smooth driftless controllable systems is developed. It provides time-varying homogeneous feedback laws that are continuous and smooth away from the origin. These feedbacks make the closed-loop system globally exponentially asymptotically stable if the control system is homogeneous with respect to a… (More)
The paper provides an oueruiew of trajectory tmclcing problems for non-holonomic uehicles. Several control objectives are reviewed and discussed, with the uiew-points of control design and robotics applications. In order to illustrate and compare different approaches, explicit control laws and simulation results are provided for a car-like uehicle.
—The paper is an introduction to feedback control design for a family of robotic aerial vehicles with Vertical TakeOff and Landing (VTOL) capabilities such as quadrotors, ducted-fan tail-sitters, helicopters, etc. Potential applications for such devices, like surveillance, monitoring, or mapping, are varied and numerous. For these applications to emerge,… (More)
Rigid body models with two controls cannot be locally asymptotically stabilized by continuous state feedbacks. Existence of a locally stabilizing smooth time-varying feedback has however been proved. Here, such a feedback is ezplicitely derived. 1 Introduction The attitude control of a rigid spacecraft operating in degraded mode, i.e with only one or two… (More)
A general framework for the feedback control of mobile manipula-tors is proposed. Its main originality lies in its capacity to address in a unified manner both cases of omnidirectional and nonholonomic mobile platforms. It also allows for the execution of the desired manipulation task without the manipulator colliding into its joint limits, whenever these… (More)