Journal
Scientific and technical journal of information technologies, mechanics and optics
UDK681.5
Issue:2 (90)
Download PDF0 Kbyte
TRAJECTORY CONTROL OF A SOLID BODY RELATIVE TO THE MOVABLE OBJECT
Annotation
The paper deals with the problem of dynamic tracking of an external movable object. These problems arise when designing tracking control systems for unmanned aircrafts following ground movable objects. A dynamic model of a solid body in three-dimensional space is selected as a control object model. An external object is described by the kinematic model of a solid body on the plane. Smooth trajectory is defined as an implicit curve associated with an external movable object. The desired height of movement is selected separately. Relative dynamics of the plant and an external movable object is considered for the synthesis of control algorithm, and methods of differential geometric transformation of the original model to the task-oriented coordinate system are applied. The original problem is formulated in terms of a longitudinal motion and two orthogonal deviations after transformation. The main results are represented by task-oriented model of spatial movement and the corresponding nonlinear control algorithms. An example of solid body motion along a circular trajectory with respect to a given rectilinear motion of an external object is given for the illustration of the proposed method performance.
Keywords
Постоянный URL
Articles in current issue
- FROM THE HISTORY OF LASER CREATION
- DYNAMIC ESTIMATION FOR PARAMETERS OF INTERFERENCE SIGNALS BY THE SECOND ORDER EXTENDED KALMAN FILTERING
- IMPLEMENTATIONS AND PRACTICAL APPLICATIONS OF HYPERBOLIC METAMATERIALS
- OPTICAL DEFLECTOR CREATION FOR LASER THERAPEUTIC DEVICES
- PROXIMITY DEGREE FOR SIMPLE AND MULTIPLE STRUCTURES OF THE EIGENVALUES: OVERSHOOT MINIMIZATION FOR FREE MOTION TRAJECTORIES OF APERIODIC SYSTEM
- TRUST MODEL FOR INFORMATION SECURITY OF MULTI-AGENT ROBOTIC SYSTEMS WITH A DECENTRALIZED MANAGEMENT
- INFORMATION SECURITY ASSESSMENT FOR MULTI-AGENT ROBOTIC SYSTEM UNDER THE INFORMATION IMPACT
- DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT
- STABILITY OF LINEAR MULTIAGENT SCALAR SYSTEMS AND ITS DEPENDENCE ON CONNECTIVITY GRAPH
- ADAPTIVE CONTROL OF TWO-LINK ROBOT MANIPULATOR BASED ON THE METHOD OF CONSECUTIVE COMPENSATOR
- INVESTIGATION OF MICRO AND NANOSTRUCTURE OF HYDROPHOBIC PLANTS SURFACE
- APPLICATION OF THE DIRECTED MUTATION TO CELLULAR AUTOMATA GENERATION PROCESS
- EXPRESS METHOD OF BARCODE GENERATION FROM FACIAL IMAGES
- THREE-MOMENT BASED APPROXIMATION OF PROBABILITY DISTRIBUTIONS IN QUEUEING SYSTEMS
- TECHNIQUE OF OPTIMAL AUDIT PLANNING FOR INFORMATION SECURITY MANAGEMENT SYSTEM
- METHODS FOR QUALITY ENHANCEMENT OF USER VOICE SIGNAL IN VOICE AUTHENTICATION SYSTEMS
- NETWORK SERVICES FOR DIAGNOSTIC OPTODIGITAL COMPLEX FOR TELEMEDICINE
- THERMAL SIMILARITY OF SPACE OBJECTS OF STANDARD CONFIGURATIONS
- THERMAL PROTECTION AND THERMAL STABILIZATION OF FIBER-OPTICAL GYROSCOPE INCLUDED IN STRAPDOWN INERTIAL NAVIGATION SYSTEM
- MONOBLOCK EMITTERS FOR MELTING OF SYNTHETIC FATTY ACIDS
- MULTI-AGENT APPROACH IN PREDICTION OF RELIABILITY PARAMETERS FOR ELECTRONIC MODULES
- SELECTION OF INFORMATION PROTECTION SYSTEM BY ENSURING THE COMPETITIVENESS OF ENTERPRISES
- THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM OF ROBOTICS OBJECTS
- THE SYSTEM OF TECHNICAL VISION IN THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM
- VIRTUAL COGNITIVE CENTERS AS INTELLIGENT SYSTEMS FOR MANAGEMENT INFORMATION SUPPORT OF REGIONAL SECURITY
- LASER SCANNING APPLICATION FOR DETECTION OF HUMAN POSTURE DISTORTION DURING MASS EXAMINATIONS
- CONCEPTUAL EXTENSION OF WEB SERVICES FUNCTIONAL DESCRIPTION
- TIMELINESS ASSESSMENT FOR IMPLEMENTATION OF THE CRITICAL REQUESTS IN TWO-LEVEL CLUSTERS