Curved path following for fixed-wing unmanned aerial vehicles using integral vector field
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    Abstract:

    The conventional vector field method is very susceptible to unsteady wind disturbances in the handling of UAV (unmanned aerial vehicle) curved path following problems, which increases the tracking error. Therefore, many methods use the inertial coordinate system of a vehicle (the ground speed and the course) instead of the body coordinate system (the airspeed and the yaw angle) to improve the wind resistance. However, this method can only handle the wind disturbances with constant amplitude and direction, which is an ideal assumption in actual flight. In order to overcome these deficiencies, an integrated vector field method was proposed for actively cancelling unsteady wind disturbances using the integral of side-offsets for the curved path following of a fixed-wing UAV. According to the curvature of the desired path and the path angle, the curved path following strategy was designed on the basis of the state information of the vehicle itself, and the Lyapunov theory was used to prove that the proposed method can ensure the global asymptotic stability of the closedloop system. Finally, the wind tracking performance of the proposed method was verified through the high performance hardware-in-the-loop simulation system.

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History
  • Received:December 29,2016
  • Revised:
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  • Online: May 11,2018
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