Application of Control Scheme for Trajectory Tracking of Hovercraft and Indoor Airship

被引：0

作者：

Herman, Przemyslaw ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Automat & Robot, Poznan, Poland

来源：

2023 27TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, MMAR | 2023年

关键词：

nonlinear tracking control; marine vehicle; hovercraft; indoor airship; transformed equations of motion; simulation; UNCERTAINTIES;

D O I：

10.1109/MMAR58394.2023.10242500

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with the application of a velocity transformation-based control scheme developed for underpowered marine vehicles to other vehicles with a similar mathematical model to the underwater vehicle. The problem of applicability of known control algorithms to systems that differ from the original is important in that its solution makes it possible to adapt a known control strategy for a similar class of vehicles. It is then not necessary to construct a new algorithm, but it is enough to transform one that is known. The effectiveness of the proposed approach was verified using simulations for a 3 DOF hovercraft model and an 3 DOF indoor airship.

引用

页码：370 / 375

页数：6

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