This paper presents path following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization and a parallel transport frame are used to design a path following controller that is suitable for paths that are parametrized as regular threefold continuously differentiable curves. The application of this frame enables the handling of paths with zero ...

Circular programming problems are a new class of convex optimization problems that include second-order cone programming problems as a special case. Alizadeh and Goldfarb [Math. Program. Ser. A 95 (2003) 3-51] introduced primal-dual path-following algorithms for solving second-order cone programming problems. In this paper, we generalize their work by using the machinery of Euclidean Jordan alg...

In this research we consider the problem of path following control for a small fixedwing unmanned aerial vehicle (UAV). Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is present...

This paper addresses the problem of guidance and control for an Autonomous Surface Craft (ASC). A path following approach is used for steering the vehicle along a predefined path. The presented solution is based on the definition of an error vector that should be driven to zero by the path-following controller. The proposed methodology for controller design assumes a polytopic Linear Parameter ...

We consider the problem of cooperative manipulation to improve positioning and path following abilities of humans. Using a specially designed actuated manipulator and “steady hand” manipulation we report on compliant path following strategies and their experimental evaluation. Detecting lines and simple curve by processing images from an endoscope mounted on the robot, we traverse these curves ...

This paper presents a new type of coupled-vehicle system: a five-axle, three-steering coupled-vehicle system consisting of two vehicles which are car-like mobile robots, two carriers, and a steering system, and presents its path-following feedback control method. We first show that, by assuming virtual mechanical elements, it is possible to convert the kinematical equation of the coupled-vehicl...