Nonlinear Dyn manuscript No. (will be inserted by the editor) Trajectory design with finite time properties in precision positioning maneuvers

Abstract

In this paper is presented a new technique to design trajectories with finite time convergence properties for precision tracking maneuvers in unmanned vehicles. This technique allows the finite time positioning on sequentially distributed points, the properties for the trajectory guarantee to start in an initial point with velocity and acceleration zero, and position itself on the subsequent point with finite time convergence, again with velocity and acceleration zero. Such trajectory depends exclusively of the time and of the initial and last position. In addition, this technique could be used to design open loop controllers to be implemented in mobile robotics applications that require long accuracy. To show the controllers feasibility we considering the kinematic car model with finite time properties, obtaining an open loop control for the car’s velocity and steering the vehicle to desired trajectory, where simulation results present the control performance and effectiveness.