Saint Petersburg National Research University of Information Technologies, Mechanics and Optics

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

Authors: Kapitonov A., Kapitanyuk Yu., Chepinskiy S.

Year: 2014

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

Country: 30Россия

City: 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.

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