GUIDANCE OF 3D UNDERWATER NON-HOLONOMIC VEHICLE VIA PROJECTION ON HOLONOMIC SOLUTIONS
GUIDANCE OF 3D UNDERWATER NON-HOLONOMIC VEHICLE VIA PROJECTION ON HOLONOMIC SOLUTIONS
复制标题
通过完整解投影引导 3D 水下非完整飞行器
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
Opera Pia
中科院分区：
文献类型：
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作者：
M. Aicardi;G. Cannata;G. Casalino;G. Indiveri;Opera Pia
研究了非完整三维∞运动飞行器的反馈控制问题，即控制目标是以一维线速度（喘振速度）和二维角速度作为控制输入，使飞行器绕垂直于喘振速度的任意轴旋转，并使飞行器在三维空间中运动到给定点，沿给定直线沿着航向运动。这类运动学描述了包括水下或空间飞行器在内的一大类∞运动系统。在本文中，它示出了一个合适的选择的状态变量，即一个类似极坐标集，允许容易地确定一个非线性时不变的闭环法律，只要车辆不是最初定位在目标点，驱动器的配置误差为零。通过李保诺夫分析，配置误差逐渐趋于零。所提出的解决方案建立在以前的工作有关的平面单轴运动模型和其effiectiveness是conflrmed通过仿真分析。
The feedback control of a nonholonomic 3D ∞oating vehicle is considered: namely the control objective is to drive a vehicle moving in 3D space to a given point and heading along a given line having as control inputs a 1D linear velocity (surge velocity) and a 2D angular one allowing the vehicle to rotate around any axis normal to the surge one. This kind of kinematic describes a large class of ∞oating systems including underwater or space vehicles. In this paper it is shown that a suitable choice of state variables, i.e. a polar-like set of coordinates, allows to easily determine a nonlinear time-invariant closed loop law that drives the conflguration error to zero as long as the vehicles is not initially positioned in the target point. The conflguration error is shown to tend asymptotically towards zero via a Lypaunov analysis. The proposed solution builds on previous work regarding the planar unicycle kinematic model and its efiectiveness is conflrmed by a simulation analysis.