Abstract
AbstractThe problem of velocity control is important in context of a guided motion control. The velocity controllers are often a part of the more complicated vehicle control system. This chapter presents two non-adaptive velocity tracking controllers using the IQV. It is shown that based on nonlinear techniques some algorithms which ensure velocity error convergence in the finite time can be designed. The controllers are expressed in the Body-Fixed Representation. The issue of algorithm robustness to vehicle parameters and the problem of input control signals is also discussed. Finally, the possibility of simplified form of the controllers (including 3 DOF horizontally moving vehicle) is also considered. Application of the approach is verified by simulations on a 3 DOF model of planar vehicle and on a 6 DOF model of an underwater vehicle as well as an indoor airship. At the end, some remarks are delivered.
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