Упрощенное построение закона управления, обеспечивающего движение объекта по заданной криволинейной траектории
Abstract
The article deals with a question of an object movement along a given curvilinear trajectory. With the help of recently presented new proof of transport theorem there was carried out a simplified development of an expression for speed of a vector of deviation changing from the given trajectory (9). On the base of (9) development of laws for object’s control of following a given curvilinear trajectory was fulfilled. The procedure of construction of laws for object’s following the given curvilinear trajectory presented in the work may be a base for working out algorithms of movement control on plane and 3D space with taking into consideration inertial properties of an object under control. The described procedure may be the first step in elaboration of algorithms for movement control with the help of backstepping method. A computation experiment has demonstrated a capacity of control laws for work (18, 19) during putting an object into curvilinear trajectory specified by polynomial curve and steering the object along this trajectory.
About the Authors
Г. Довгоброд
ОАО «ЦНИИ «Курс» (Москва).
Russian Federation
Russian Federation
Л. Клячко
ОАО «ЦНИИ «Курс» (Москва).
Russian Federation
Russian Federation
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Review
For citations:
, . Giroskopiya i Navigatsiya / Gyroscopy and Navigation. 2011;19(3):24-33. (In Russ.)
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