Back to Search
Start Over
Trajectory tracking of a class of under-actuated thrust-propelled vehicle with uncertainties and unknown disturbances
- Source :
- Nonlinear Dynamics. 90:1695-1706
- Publication Year :
- 2017
- Publisher :
- Springer Science and Business Media LLC, 2017.
-
Abstract
- This paper deals with the problem of designing a controller for a thrust-propelled vehicle which steers the vehicle to track a 3D spatial path, while effective compensation for both time-varying disturbances and uncertainties is achieved as well. Taking advantage of extraction algorithm, we separate the design for the translational and rotational dynamics. A back-stepping-based controller and a sliding mode controller are, respectively, designed for the translational and rotational dynamics in succession. The stability of the control framework is established through Lyapunov analysis. A numerical simulation is also included in the paper to render the effectiveness of the proposed control scheme.
- Subjects :
- Lyapunov function
0209 industrial biotechnology
Engineering
Extraction algorithm
Aerospace Engineering
Ocean Engineering
Thrust
02 engineering and technology
Electrical & electronics engineering [C06] [Engineering, computing & technology]
symbols.namesake
020901 industrial engineering & automation
Control theory
Robustness (computer science)
0202 electrical engineering, electronic engineering, information engineering
Electrical and Electronic Engineering
Ingénierie électrique & électronique [C06] [Ingénierie, informatique & technologie]
Computer simulation
business.industry
Applied Mathematics
Mechanical Engineering
020208 electrical & electronic engineering
Control engineering
Control and Systems Engineering
symbols
Rotational dynamics
business
Subjects
Details
- ISSN :
- 1573269X and 0924090X
- Volume :
- 90
- Database :
- OpenAIRE
- Journal :
- Nonlinear Dynamics
- Accession number :
- edsair.doi.dedup.....c847d14c900a99f741b26bde267afbe5