Path Following Control in 3D for Nonholonomic Robots Using a Vector Field.

Abstract

Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general 3D vector field for robotic path following. We propose and investigate assumptions that turn out to be crucial for this method, but have been rarely explicitly stated in related works. We derive conditions under which the local path-following error vanishes exponentially in a sufficiently small neighborhood of the desired path, which is key to show the local input-to-state stability (local ISS) property of the path-following error dynamics. The local ISS property then justifies the control algorithm design for a fixed-wing aircraft model. Our approach is effective for any sufficiently smooth desired path in 3D, bounded or unbounded; note that the case for unbounded desired paths has not been sufficiently discussed in the literature. Simulations are conducted to verify the theoretical results.