The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can be represented through a couple of intersecting surfaces f1(X, Y, Z) = 0, f2(X, Y, Z) = 0; ii) it does not put any bounds on the initial position of the vehicle depending on the path's curvature.
3D Path Following with No Bounds on the Path Curvature through Surface Intersection
SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2010-01-01
Abstract
The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can be represented through a couple of intersecting surfaces f1(X, Y, Z) = 0, f2(X, Y, Z) = 0; ii) it does not put any bounds on the initial position of the vehicle depending on the path's curvature.
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