<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Velocity Controller for a Class of Vehicles

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

Foundations of Computing and Decision Sciences

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Velocity Controller for a Class of Vehicles"}

This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on...

Velocity Controller for a Class of Vehicles

Online veröffentlicht: 04. März 2017

Seitenbereich: 43 - 58

Eingereicht: 12. Juli 2016

Akzeptiert: 09. Jan. 2017

DOI: https://doi.org/10.1515/fcds-2017-0002

Schlüsselwörter
Marine vehicle, hovercraft, indoor airship, velocity transformation, nonlinear control

© 2017 Przemyslaw Herman et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Velocity Controller for a Class of Vehicles

Online veröffentlicht: 04. März 2017

Seitenbereich: 43 - 58

Eingereicht: 12. Juli 2016

Akzeptiert: 09. Jan. 2017

DOI: https://doi.org/10.1515/fcds-2017-0002

SchlüsselwörterMarine vehicle, hovercraft, indoor airship, velocity transformation, nonlinear control

© 2017 Przemyslaw Herman et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Schlüsselwörter
Marine vehicle, hovercraft, indoor airship, velocity transformation, nonlinear control