Trajectory/Path-Following Controller Based on Nonlinear Jerk-Level Error Dynamics

Applied Sciences

Florian Holzapfel¹  MichaelM. Marb¹  Patrick Piprek¹  Pranav Bhardwaj¹ 

[1] Institute of Flight System Dynamics, Technical University of Munich, 85748 Garching, Germany;

关键词: nonlinear error dynamics;    trajectory controller;    path following control;    jerk dynamics;    jerk kinematics;    nonlinear dynamic inversion;   

DOI  :  10.3390/app10238760

来源: DOAJ

【 摘 要 】

This study proposes a novel, nonlinear trajectory/path-following controller based on jerk-level error dynamics. Therefore, at first the nonlinear acceleration-based kinematic equations of motion of a dynamic system are differentiated with respect to time to obtain a representation connecting the translation jerk with the (specific) force derivative. Furthermore, the path deviation, i.e., the difference between the planned and the actual path, is formulated as nonlinear error dynamics based on the jerk error. Combining the derived equations of motion with the nonlinear error dynamics as well as employing nonlinear dynamic inversion, a control law can be derived that provides force derivative commands, which may be commanded to an inner loop for trajectory control. This command ensures an increased smoothness and faster reaction time compared to traditional approaches based on a force directly. Furthermore, the nonlinear parts in the error dynamic are feedforward components that improve the general performance due to their physical connection with the real dynamics. The validity and performance of the proposed trajectory/path-following controller are shown in an aircraft-related application example.

【 授权许可】

Unknown