Path following control in 3D using a vector field

Weijia Yao*, Ming Cao

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

2 Citations (Scopus)

Abstract

Using a designed vector field to control a mobile robot to follow a given desired path has found a range of practical applications, and it is in great need to further build a rigorous theory to guide its implementation. In this paper, we study the properties of a general 3D vector field for robotic path following. We stipulate and investigate assumptions that turn out to be crucial for this method, although they are rarely explicitly stated in the existing related works. We derive conditions under which the local path-following error vanishes exponentially in a sufficiently small neighborhood of the desired path, which is key to show the local input-to-state stability (local ISS) property of the path-following error dynamics. The local ISS property then justifies the control algorithm design for a fixed-wing aircraft model. Our approach is effective for any sufficiently smooth desired path in 3D, bounded or unbounded; the results are particularly relevant since unbounded desired paths have not been sufficiently discussed in the literature. Simulations are conducted to verify the theoretical results.

Original languageEnglish
Article number108957
Number of pages9
JournalAutomatica
Volume117
DOIs
Publication statusPublished - Jul-2020

Keywords

  • Path following
  • Vector field
  • Autonomous mobile robots
  • Nonlinear systems
  • Nonholonomic models

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