Velocity controller for a class of vehicles

• Autorzy: Herman P. , Adamski W.

Identyfikatory

DOI

10.1515/fcds-2017-0002

• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation 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.

Słowa kluczowe

EN

marine vehicles; hovercraft; indoor airship; velocity transformation; nonlinear control

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Foundations of Computing and Decision Sciences
• Rocznik: 2017
• Tom: Vol. 42, No. 1
• Strony: 43--58
• Opis fizyczny: Bibliogr. 31 poz., fig., tab.

Twórcy

autor

Herman P.

• Chair of Control and Systems Engineering, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland

autor

Adamski W.

• Chair of Control and Systems Engineering, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).