The Method of Trajectories Formation for Dynamic Objects Spatial Motion in Conditions of Control Signals Saturation

Alexander V. Lebedev


Vehicles and transportation systems, Robotics, Control, Nonlinear systems, Spatial trajectories


The new approach to the synthesis of desirable trajectories of dynamic objects spatial motion is proposed in this paper. The method of formation of specifying influences for separate control channels of system on whole as parametrical equations of the given spatial curves is developed. This method allows to provide automatically any required laws of velocity change during of the object motion on these trajectories and to decrease object velocity in the case of insufficient control resource. The analogue system for the formation of specifying influences realizing offered control laws is synthesized.

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