Nonlinear path-following method for fixed-wing unmanned aerial vehicles

Jia-ming ZHANG; Qing LI; Nong CHENG; Bin LIANG

doi:10.1631/jzus.C1200195

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Nonlinear path-following method for fixed-wing unmanned aerial vehicles

Control Engineering | Updated：2022-12-09

- Nonlinear path-following method for fixed-wing unmanned aerial vehicles
- Nonlinear path-following method for fixed-wing unmanned aerial vehicles
- Frontiers of Information Technology & Electronic Engineering Vol. 14, Issue 2, Pages: 125-132(2013)
- Affiliations：
  
  1.Department of Automation, Tsinghua University, Beijing 100084, China
  2.Science and Technology on Aircraft Control Laboratory, Flight Automatic Control Research Institute, Xioan 710065, China
- Author bio：
  
  [ "Jia-ming ZHANG, zhangjm09@mails.tsinghua.edu.cn" ]
- Funds：
- DOI：10.1631/jzus.C1200195
  CLC： V24
- Received：15 June 2012，
  
  Revised：2013-;1-16，
  
  Published：2013-02
- Accepted：
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Jia-ming ZHANG, Qing LI, Nong CHENG, et al. Nonlinear path-following method for fixed-wing unmanned aerial vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(2): 125-132.
DOI：

Jia-ming ZHANG, Qing LI, Nong CHENG, et al. Nonlinear path-following method for fixed-wing unmanned aerial vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(2): 125-132. DOI： 10.1631/jzus.C1200195.

摘要

Abstract

A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft. The aircraft can asymptotically approach the defined path with smooth movements. Meanwhile

the aircraft can anticipate the upcoming transition of the flight path. Moreover

the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop. This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control. The performance of the proposed path-following method is validated by the numerical simulation.

关键词

Keywords

references

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