Abstract
This paper studies the problem of trajectory tracking control for a class of vehicles (underwater vehicles, some horizontally moving vehicles, indoor airships). The control development is based on some velocity transformation arising from the inertia matrix decomposition, Lyapunov’s direct method and a non-adaptive nonlinear tracking controller in terms of the Generalized Velocity Components (GVC). In the nonlinear controller the control gains are strictly related to the vehicle dynamics (especially dynamical couplings). The general algorithm is presented for a 6 DOF vehicle. In the simulation two trajectories were tested. Moreover, one robustness test was done (corresponding to robustness issue considered in this work). The simulation results obtained for a full airship model show that the proposed control scheme guarantees satisfactory performance.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
