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.


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    Title :

    IQV Position and Velocity Tracking Control with Adaptive Term in Body-Fixed Frame


    Additional title:

    Springer Tracts in Mechanical Engineering


    Contributors:


    Publication date :

    2022-02-26


    Size :

    18 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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