Title
Velocity controller for a class of vehicles
Authors
[ 1 ] Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | [ P ] employee
Scientific discipline (Law 2.0)
Year of publication
2017
Published in
Article type
scientific article
Publication language
english
Keywords
EN
- marine vehicle
- hovercraft
- indoor airship
- velocity transformation
- nonlinear control
Abstract
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.
Pages (from - to)
43 - 58
License type
CC BY-NC-ND (attribution - noncommercial - no derivatives)
Full text of article
Access level to full text
public
Ministry points / journal
15
Ministry points / journal in years 2017-2021
15
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