DOI 10.17586/0021-3454-2017-60-11-1003-1011
UDC 681.5
TRAJECTORY CONTROL OVER RIGID BODY MOVEMENT RELATIVE TO A MOBILE OBJECT
ITMO University, Saint Petersburg, 197101, Russian Federation; Lecturer
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
Read the full article
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
References:
References:
- Lekkas A., Fossen T. European Control Conf. (ECC), 2014, рp. 3004–3010.
- Lee T., Leoky M., McClamroch N. Proc. of the 49th IEEE Conf. on Decision and Control (CDC), 2010, рp. 5420–5425.
- Lapierre L., Soetanto D. Ocean Engineering, 2007, no. 34(11), рр. 1734–1744.
- Hladio A., Nielsen C., Wang D. IEEE Transact. on Control Systems Technology, 2013, no. 21(6), рр. 2380–2390.
- Miroshnik I.V. Soglasovannoe upravlenie mnogokanal'nymi sistemami (Coordinated Control of Multi-Channel Systems), Leningrad, 1990, 128 р. (in Russ.)
- Miroshnik I.V., Chepinsky S.A. 2nd IFAC Conf. on Mechatronic Systems, Berkeley, 2002, рp. 959–1004.
- Miroshnik I.V., Chepinsky S.A. 7th IFAC Symp. on Robot Control, Sept. 1–3, Wroclaw, Poland, 2003, рp. 105–110.
- Bushuev A.B., Morozov S.N., Chepinskiy S.A. Journal of Instrument Engineering, 2009, no. 11(52), рр. 50–56. (in Russ.)
- Fradkov A., Miroshnik I.V., Nikiforov V. O. Nonlinear and Adaptive Control of Complex Systems. Mathematics and Its Applications,Springer, 1999.
- Miroshnik I.V., Chepinskiy S.A. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2004, no. 3(14), рр. 5–10. (in Russ.)
- Kapitanyuk Yu. A., Chepinskiy S. A. Journal of Instrument Engineering, 2013, no. 4(56), рр. 65–70. (in Russ.)
- Kapitanyuk Y., Chepinsky S. Gyroscopy and Navigation, 2013, nо. 4(4), рр. 198–203.
- Kapitanyuk Y., Chepinskiy S., Kapitonov A. Proc. of the 19th IFAC World Congress, 2014.
- Jian Wang, Kapitanyuk Y.A., Chepinskiy S.A., Dongliang Liu, Krasnov A.J. IFAC-PapersOnLine, 2015, nо. 48-11, рр. 150–155.
- Van Tszyan', Krasnov A.Yu., Kapitanyuk Yu.A., Chepinskiy S.A., Kholunin S.A., Chen' Ifan', Lyu Khueymin', Khvostov D.A. Journal of Instrument Engineering, 2017, no. 8(60), рр. 704–711. (in Russ.)
- Krasnov A.Yu., Chepinskiy S.A., Chen' Ifan', Lyu Khueymin'. Journal of Instrument Engineering, 2017, no. 9(60), рр. 842–849. (in Russ.)
