TY - JOUR
T1 - Simultaneous Stabilization Control of Position and Orientation for Non-Holonomic Vehicle in 3D Space
T2 - Geometric Reference Trajectory
AU - Yi, Renkai
AU - Peng, Xiuhui
AU - Wang, Peng
AU - Lv, Yuezu
N1 - Publisher Copyright:
© 1965-2011 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper addresses the challenge of simultaneous stabilization control of the position and orientation of the non-holonomic vehicle in three-dimensional (3D) space by constructing a geometric reference trajectory. Firstly, by leveraging the geometric reference trajectory configuration defined on SE(3), a geometric reference trajectory for the desired position and orientation of a vehicle in 3D space is devised. Then, an adjustable trajectory inclination is introduced to provide a safe operational trajectory for a non-holonomic vehicle in the 3D space. Secondly, based on the geometric reference trajectory, a simultaneous stabilization controller for a general non-holonomic vehicle in 3D space is designed to enable the position and orientation to converge simultaneously to the desired configuration along the specified geometric reference trajectory, with convergence proven by a Lyapunov function. Subsequently, a two-phase autonomous landing controller strategy is devised for a fixed-wing Unmanned Aerial Vehicle (UAV), enabling it to safely land without stalling along a geometric reference trajectory that maintains a suitable trajectory inclination. Finally, the designed controllers are validated through numerical simulations.
AB - This paper addresses the challenge of simultaneous stabilization control of the position and orientation of the non-holonomic vehicle in three-dimensional (3D) space by constructing a geometric reference trajectory. Firstly, by leveraging the geometric reference trajectory configuration defined on SE(3), a geometric reference trajectory for the desired position and orientation of a vehicle in 3D space is devised. Then, an adjustable trajectory inclination is introduced to provide a safe operational trajectory for a non-holonomic vehicle in the 3D space. Secondly, based on the geometric reference trajectory, a simultaneous stabilization controller for a general non-holonomic vehicle in 3D space is designed to enable the position and orientation to converge simultaneously to the desired configuration along the specified geometric reference trajectory, with convergence proven by a Lyapunov function. Subsequently, a two-phase autonomous landing controller strategy is devised for a fixed-wing Unmanned Aerial Vehicle (UAV), enabling it to safely land without stalling along a geometric reference trajectory that maintains a suitable trajectory inclination. Finally, the designed controllers are validated through numerical simulations.
KW - Automatic landing
KW - fixed -wing UAV
KW - geometric reference trajectory
KW - non-holonomic vehicle
KW - special euclidean group SE(3)
UR - http://www.scopus.com/inward/record.url?scp=85207434023&partnerID=8YFLogxK
U2 - 10.1109/TAES.2024.3479198
DO - 10.1109/TAES.2024.3479198
M3 - Article
AN - SCOPUS:85207434023
SN - 0018-9251
JO - IEEE Transactions on Aerospace and Electronic Systems
JF - IEEE Transactions on Aerospace and Electronic Systems
ER -