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In this article, a predefined-time guiding vector field (GVF) is constructed for three-dimensional (3-D) path following, which can approximately steer robots to the desired path within a predefined time. First, a traditional GVF is revisited for the 3-D path following problem. Second, a predefined time GVF is proposed by the introduction of time base generators, and its effectiveness is demonstrated by mathematical analysis. Third, control laws are given for the fixed-wing aircraft kinematics model, which enables a fixed-wing aircraft to converge to the desired path exponentially fast. Finally, two comparative simulations are performed to verify the theories.

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Predefined-Time Guiding Vector Fields for Robot Motion via Time Base Generators

  • 会议论文

  • 发表日期：

    2025年

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  • Junlong Wu,
  • Weijia Yao,
  • Jian Yang

摘要

In this article, a predefined-time guiding vector field (GVF) is constructed for three-dimensional (3-D) path following, which can approximately steer robots to the desired path within a predefined time. First, a traditional GVF is revisited for the 3-D path following problem. Second, a predefined time GVF is proposed by the introduction of time base generators, and its effectiveness is demonstrated by mathematical analysis. Third, control laws are given for the fixed-wing aircraft kinematics model, which enables a fixed-wing aircraft to converge to the desired path exponentially fast. Finally, two comparative simulations are performed to verify the theories.