Application of Control Scheme for Trajectory Tracking of Hovercraft and Indoor Airship

Przemysław Herman

doi:10.1109/MMAR58394.2023.10242500

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Title

Application of Control Scheme for Trajectory Tracking of Hovercraft and Indoor Airship

Authors

Przemysław Herman (WARiE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication

2023

Chapter type

chapter in monograph / paper

Publication language

english

Abstract

EN This paper is concerned with the application of a velocity transformation-based control scheme developed for underpowered marine vehicles to other vehicles with a similar mathematical model to the underwater vehicle. The problem of applicability of known control algorithms to systems that differ from the original is important in that its solution makes it possible to adapt a known control strategy for a similar class of vehicles. It is then not necessary to construct a new algorithm, but it is enough to transform one that is known. The effectiveness of the proposed approach was verified using simulations for a 3 DOF hovercraft model and an 3 DOF indoor airship.

Date of online publication

11.09.2023

Pages (from - to)

370 - 375

DOI

10.1109/MMAR58394.2023.10242500

URL

https://ieeexplore.ieee.org/document/10242500

Book

2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR), 22-25 August 2023, Międzyzdroje, Poland

Presented on

27th International Conference on Methods and Models in Automation and Robotics (MMAR 2023), 22-25.08.2023, Międzyzdroje, Polska