2 B0 BC750 D 01

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
Control of Thrust-Propelled Underactuated Vehicles
N 6453
February 2008
apport
de recherche
ISRN INRIA/RR--6453--FR+ENG
Thme NUM
ISSN 0249-6399
inria-00258092, version 2 - 28 Feb 2008
Minh-Duc HUA Tarek HAMEL Pascal MORIN Claude SAMSON

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2004, route des Lucioles, BP 93, 06902 Sophia Antipolis Cedex (France)
Tlphone : +33 4 92 38 77 77 Tlcopie : +33 4 92 38 77 65

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10
50
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20
40
60
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1 ::

10
50
30
t (s)
t (s)
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x
.
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40
60
80
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40
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10
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10
20
30
40
50
t (s)
60
70
80
90
100
t (s)
x f (ms1 )
x f,1 :
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20
x f,1 :
x f,2 :
x f,3 : .
t (s)
e (ms2 )
10
e,1 :
e,2 :
x f,3 : .
e,1 :
e,2 :
e,3 : .
15
e (ms2 )
t (s)
x f (ms1 )
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20
x f,2 :
e,1 :
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15
e (ms2 )
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0
10
20
40
60
80
100
10
20
40
60
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t (s)
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60
120
50
x1 (m)
x2 (m)
20
ref. trajectory :
x3 (m)
x2 (m)
t (s)
30
80
60
act. trajectory :
10
t (s)
ref. trajectory :
act. trajectory :
100
ref. trajectory :
act. trajectory :
40
40
t (s)
20
10
20
20
10
10
20
x1 (m)
30
40
0
20
50
10
Fig. c) Position tracking error
10
20
x1 (m)
30
40
50
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50
60
x
1,2,3 (m)
x
1 :
20
x
2 :
x
3 : .
20
, , (o )
x
1,2,3 (m)
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x
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30
0
20
40
10
:
:
: .
60
0
80
10
20
40
60
t (s)
80
100
100
20
Fig. e) Thrust control input
40
60
t (s)
80
100
80
100
Fig. f) Torque control inputs
60
2.5
1 :
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3 : .
2
55
1.5
50
45
40
T = mu (N )
t (s)
35
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40
40
0.5
0
0.5
1
1.5
30
2
25
20
40
t (s)
60
80
100
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20
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Unit de recherche INRIA Sophia Antipolis

2004, route des Lucioles - BP 93 - 06902 Sophia Antipolis Cedex (France)
Unit de recherche INRIA Futurs : Parc Club Orsay Universit - ZAC des Vignes
4, rue Jacques Monod - 91893 ORSAY Cedex (France)
Unit de recherche INRIA Lorraine : LORIA, Technople de Nancy-Brabois - Campus scientifique
615, rue du Jardin Botanique - BP 101 - 54602 Villers-ls-Nancy Cedex (France)
Unit de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu - 35042 Rennes Cedex (France)
Unit de recherche INRIA Rhne-Alpes : 655, avenue de lEurope - 38334 Montbonnot Saint-Ismier (France)
Unit de recherche INRIA Rocquencourt : Domaine de Voluceau - Rocquencourt - BP 105 - 78153 Le Chesnay Cedex (France)
diteur
INRIA - Domaine de Voluceau - Rocquencourt, BP 105 - 78153 Le Chesnay Cedex (France)

ISSN 0249-6399

2 B0 BC750 D 01

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INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Control of Thrust-Propelled Underactuated Vehicles

inria-00258092, version 2 - 28 Feb 2008

Minh-Duc HUA Tarek HAMEL Pascal MORIN Claude SAMSON

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Unit de recherche INRIA Sophia Antipolis

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