DOI 10.17586/0021-3454-2017-60-8-704-711
UDC 681.5
TRAJECTORY CONTROL OF SOLID BODY SPATIAL MOTION
ITMO University; 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
D. A. Khvostov
Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University), Saint Petersburg, Russia; student
A. Y. Krasnov
ITMO University, Saint Petersburg, 197101, Russian Federation; Lecturer
. Chen Yifan
ITMO University; Post-Graduate Student
. Liu Huimin
ITMO University, Department of Control Systems and Informatics; Post-Graduate Student
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Abstract. The problem of synthesis of the trajectory control algorithm for a solid body moving with a preassigned speed along a spatial trajectory given in an implicit form, is considered. The control law is synthesized using differential geometry methods through the nonlinear transformation of the initial dynamic model. Effectiveness of the proposed mathematical model of spatial motion and corresponding nonlinear control algorithm is confirmed by presented results of computer simulation. The formulated control laws is supposed to be useful in development of systems of trajectory control over airborne and underwater mobile robots.
Keywords: algorithm, motion, orientation, trajectory control, coordinates transformation
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