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.


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    Title :

    Predefined-Time Guiding Vector Fields for Robot Motion via Time Base Generators


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Wu, Junlong (author) / Yao, Weijia (author) / Yang, Jian (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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