In this article, a predefined-time guiding vector field (GVF) is constructed for three-dimensional (3-D) path following, which can approximately steer robots to the desired path within a predefined time. First, a traditional GVF is revisited for the 3-D path following problem. Second, a predefined time GVF is proposed by the introduction of time base generators, and its effectiveness is demonstrated by mathematical analysis. Third, control laws are given for the fixed-wing aircraft kinematics model, which enables a fixed-wing aircraft to converge to the desired path exponentially fast. Finally, two comparative simulations are performed to verify the theories.
Predefined-Time Guiding Vector Fields for Robot Motion via Time Base Generators
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-02
10 pages
Article/Chapter (Book)
Electronic Resource
English