Practical Position Tracking for 3D Unicycle Model

Haoyan Lin, He Cai and Javier Moreno-Valenzuela

Mathematical Problems in Engineering, 2022, vol. 2022, 1-11

Abstract: This paper considers practical position tracking for the 3D unicycle model. In contrast to the existing hand position coordinate transformation, a novel modified hand position coordinate transformation is proposed for the 3D unicycle model which can guarantee that the induced velocity transformation matrix is nonsingular for all the possible orientations. By employing the proposed modified hand position coordinate transformation, the nonlinear 3D unicycle position kinematics can be converted into the single integrator form, which enables arbitrary position reference trajectory tracking given any prespecified upper bound for the steady-state tracking error. The control performance is examined by numerical examples.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/mpe/2022/5725917.pdf (application/pdf)
http://downloads.hindawi.com/journals/mpe/2022/5725917.xml (application/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:5725917

DOI: 10.1155/2022/5725917

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().