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 and velocity error convergence in the finite time. In contrast to previously discussed algorithms the controllers are realized in the Earth-Fixed Representation. The robustness analysis to vehicle parameters changes, the input control signals, and some examples of the simplified controllers (including a 3 DOF horizontally moving vehicle model) are also shown. Validation of the controllers is done on a 6 DOF model of fully actuated underwater vehicle (GVC based algorithm) and of fully actuated indoor airship (NGVC based algorithm).
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