This chapter is devoted to adaptive nonlinear controllers using the IQV, for a class of vehicles, which allow the trajectory position and velocity tracking in the Earth-Fixed Frame in the presence of disturbances described by a model. The proposed controllers guarantee the position and velocity error convergence in the finite time. The input control signals in the Earth-Fixed Frame, some simplified controllers and application for 3 DOF horizontally moving vehicles are discussed either. Additionally, simulation results for a 6 DOF model of an underwater vehicle and an indoor airship are given here.


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    Title :

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


    Additional title:

    Springer Tracts in Mechanical Engineering


    Contributors:


    Publication date :

    2022-02-26


    Size :

    25 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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