This chapter deals with nonlinear trajectory tracking strategies with an adaptive term. The proposed controllers including the IQV are suitable for a class of vehicles and allow trajectory position and velocity tracking if disturbances can be described by a model. The control algorithms considered in this chapter guarantee the position and velocity error convergence in the finite time. They are realized in the Body-Fixed Representation. The input control signals, and the form of simplified controllers are also discussed. Additionally, simulation results for a 6 DOF model of underwater vehicle and indoor airship are presented.
IQV Position and Velocity Tracking Control with Adaptive Term in Body-Fixed Frame
Springer Tracts in Mechanical Engineering
Inertial Quasi-Velocity Based Controllers for a Class of Vehicles ; Kapitel : 10 ; 191-208
26.02.2022
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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