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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)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Published in

Foundations of Computing and Decision Sciences

Journal year: 2017 | Journal volume: vol. 42 | Journal number: no. 1

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

DOI

10.1515/fcds-2017-0002

URL

https://www.sciendo.com/article/10.1515/fcds-2017-0002

License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)

Full text of article

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Access level to full text

public

Ministry points / journal

15.0

Ministry points / journal in years 2017-2021

15.0

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