1 research outputs found
Three Dimensional Moving Path Following Control for Robotic Vehicles with Minimum Positive Forward Speed
This paper addresses the problem of steering a robotic vehicle along a
geometric path specified with respect to a reference frame moving in three
dimensions, termed the Moving Path Following (MPF) motion control problem. The
MPF motion control problem is solved for a large class of robotic vehicles that
require a minimum positive forward speed to operate, which poses additional
constraints, and is developed using geometric concepts, wherein the attitude
control problem is formulated on Special Orthogonal group SO(3). Furthermore,
the proposed control law is derived from a novel MPF error model formulation
that allows to exclude the conservative constraints on the initial position of
the vehicle with respect to the reference path by enabling the explicit control
of the progression of a virtual point moving along the reference path. The task
of the MPF control law is then to steer the vehicle towards the moving path and
converge to the virtual point. Formal stability and convergence guarantees are
provided using the Input-to-State Stability concept. In particular, we show
that the proposed controller is robust to imperfect tracking errors by the
autopilot and wind gusts. Simulation results are presented to illustrate the
efficacy of the proposed MPF control law.Comment: Technical Report. Longer version of the paper to be submitted to the
relevant conference/letter