Three Dimensional Moving Path Following Control for Robotic Vehicles With Minimum Positive Forward Speed

This letter addresses the problem of steering a robotic vehicle along geometric path specified with respect to reference frame moving in three dimensions, termed Moving Path Following (MPF) motion control problem. The MPF is solved for large class vehicles that require minimum positive forward speed operate. restriction poses additional challenges design, and developed using concepts, wherein attitude formulated on Special Orthogonal group SO(3). To this end, error model formulation first derived allows exclude conservative constraints initial position by enabling explicit progression virtual point path. task law then steer towards converge point. Stability convergence guarantees resulting closed-loop system are provided Input-to-State concept. In particular, we show proposed controller robust imperfect tracking errors external disturbances (e.g., autopilot wind gusts). Simulation results presented illustrate efficacy law.