Geometric path following control of a rigid body based on the stabilization of sets

Авторы: Kapitonov A., Капитанюк Ю., Chepinskiy S.

Год издания: 2014

Издание: 19th IFAC World Congress, August 24-29

Страна: 30Россия

Город: Cape Town

The paper describes an approach to the development of the geometric path following control for a rigid body. Desired path of movement in the space is represented by an intersection of two implicit surfaces. Path following control problem is posed as a problem of maintaining the holonomic relationships between the system outputs. Control is synthesized using the differential geometrical method through nonlinear transformation of initial dynamic model. The main results presented are the model of spatial motion and relevant nonlinear control algorithms.