Abstract
AbstractThis chapter focuses on the non-adaptive nonlinear control methods which serve for the position and velocity tracking of vehicles described in terms of the IQV. The presented algorithms guarantee the position (linear and angular) and velocity error convergence in the finite time. The discussed here control algorithms are realized using the Body-Fixed Representation. There are many controllers known which serve for achieving the same goal. The strategies proposed here can be included in the SMC group without adaptation. The robustness problem to vehicle parameters changes, the real input control signals, and the simplified controllers, among others for 3 DOF horizontal models of surface vehicle are also considered. Moreover, some simulation results for 6 DOF model of an underwater vehicle and an airship are delivered. It is also shown which effects are observable if the controllers are applied for 3 DOF underactuated horizontally moving vehicles. The chapter concludes with a summary of the results presented.
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