Journal
Scientific and technical journal «Priborostroenie»
UDK681.5
Issue:8 (60)
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TRAJECTORY CONTROL OF SOLID BODY SPATIAL MOTION
Annotation
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.
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