Velocity controller for a class of vehicles
[ 1 ] Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | [ P ] employee
2017
scientific article
english
- marine vehicle
- hovercraft
- indoor airship
- velocity transformation
- nonlinear control
EN This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on trans-formation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.
43 - 58
CC BY-NC-ND (attribution - noncommercial - no derivatives)
public
15
15