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This paper addresses the problem of steering a robotic vehicle along ageometric path specified with respect to a reference frame moving in threedimensions, termed the Moving Path Following (MPF) motion control problem. TheMPF motion control problem is solved for a large class of robotic vehicles thatrequire a minimum positive forward speed to operate, which poses additionalconstraints, and is developed using geometric concepts, wherein the attitudecontrol problem is formulated on Special Orthogonal group SO(3). Furthermore,the proposed control law is derived from a novel MPF error model formulationthat allows to exclude the conservative constraints on the initial position ofthe vehicle with respect to the reference path by enabling the explicit controlof the progression of a virtual point moving along the reference path. The taskof the MPF control law is then to steer the vehicle towards the moving path andconverge to the virtual point. Formal stability and convergence guarantees areprovided using the Input-to-State Stability concept. In particular, we showthat the proposed controller is robust to imperfect tracking errors by theautopilot and wind gusts. Simulation results are presented to illustrate theefficacy of the proposed MPF control law.

Three Dimensional Moving Path Following Control for Robotic Vehicles with Minimum Positive Forward Speed