Velocity Controller for a Class of Vehicles

Author:

Herman Przemyslaw1,Adamski Wojciech1

Affiliation:

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

Abstract

Abstract 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.

Publisher

Walter de Gruyter GmbH

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. IQV Velocity Tracking Control in Body-Fixed Frame;Springer Tracts in Mechanical Engineering;2022

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