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JOURNALS // Matematicheskoe modelirovanie // Archive

Mat. Model., 2017 Volume 29, Number 10, Pages 5–19 (Mi mm3895)

This article is cited in 12 papers

Path coordinates in 3D path following problem

A.N. Kanatnikovab, W. Liua, S. B. Tkachevba

a Bauman Moscow State Technical University, Moscow
b Institute for Systems Analysis of RAS

Abstract: Two approaches to 3D path coordinates using in path following problem for aerial vehicles are proposed. The first one consists in reducing to two dimensional case by means of projection. The second one is based on introducing of an adapted frame in the target point. The choice of an adapted frame detects a complexity of the control synthesis algorithm. It is shown that the parallel transport frame, or Bishop frame, is most convenient.

Keywords: path following, path coordinates, adapted frame, stabilized control.

Received: 09.02.2017


 English version:
Mathematical Models and Computer Simulations, 2018, 10:3, 265–275

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© Steklov Math. Inst. of RAS, 2025