This article concerns the development of the Vector Field Orientation – Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded control structure decouples system kinematics from system dynamics, resembling the approach utilized for nonholonomic systems. Thanks to the use of an ADR control approach in the dynamic-level controller, the proposed control structure is robust to even significant model uncertainties and external disturbances. Application of an error-based form of the Extended State Observer (ESO), implemented within the ADR inner-loop controller, implies the output-feedback characteristic of the control structure, i.e., only position and attitude of the vehicle body are expected to be measured. The kinematic-level controller is designed according to the VFO method utilizing the non-parametrized path representation to calculate the commanded velocities. The description of the proposed control structure is followed by the theoretical analysis utilizing the Input-to-State Stability (ISS) theorem and the simulation verification of the proposed solution.

本文涉及矢量场定向–主动干扰抑制（VFO-ADR）级联路径跟踪控制器的开发，该控制器适用于在3维空间中移动的欠驱动车辆。所提出的级联控制结构概念使系统运动学与系统动力学脱钩，类似于用于非完整系统的方法。由于在动态级别控制器中使用了ADR控制方法，因此所提出的控制结构即使对于重大的模型不确定性和外部干扰也具有鲁棒性。在ADR内环控制器中实施的基于错误形式的扩展状态观察器（ESO）的应用暗示了控制结构的输出反馈特性，即，仅车身的位置和姿态应为测量。运动级控制器是根据VFO方法设计的，利用非参数化路径表示来计算命令速度。在对提出的控制结构进行描述之后，再进行利用输入到状态稳定性（ISS）定理的理论分析，并对提出的解决方案进行仿真验证。