ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 63 / August, 2020

DOI 10.17586/0021-3454-2017-60-11-1003-1011

UDC 681.5


A. Y. Krasnov
ITMO University, Department of Control Systems and Informatics; Post-Graduate Student

Y. A. Kapitanyuk
ITMO University; student

S. A. Chepinsky
ITMO University; Associate professor

S. A. Kholunin
ITMO University, Saint Petersburg, 197101, Russian Federation; leading engineer

. Liu Huimin
ITMO University, Department of Control Systems and Informatics; Post-Graduate Student

D. A. Khvostov
Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University), Saint Petersburg, Russia; student

. Chen Yifan
ITMO University; Post-Graduate Student

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Abstract. The problem of synthesis of trajectory control algorithm for rigid body model in a moving frame is considered. Adopted mathematical description of the body is represented by a dynamic model with unidirectional thrust. A procedure for synthesizing the laws of trajectory control using differential geometry methods that solve the problem of motion relative to a mobile object is proposed. The efficiency of the synthesized control laws is confirmed by presented results of digital simulation.
Keywords: trajectory control, coordinates transformation, moving frame

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