DocumentCode :
2429503
Title :
Robust trajectory-tracking method for UAV guidance using proportional navigation
Author :
Yamasaki, Takeshi ; Sakaida, Hirotoshi ; Enomoto, Keisuke ; Takano, Hiroyuki ; Baba, Yoriaki
Author_Institution :
Nat. Defense Acad. of Japan, Yokosuka
fYear :
2007
fDate :
17-20 Oct. 2007
Firstpage :
1404
Lastpage :
1409
Abstract :
A guidance and control system for a trajectory-tracking unmanned aerial vehicle (UAV) is introduced. A proportional navigation guidance law is applied to a trajectory-tracking flight instead of using a traditional tracking-error correction based method. The system employs a dynamic inversion technique for the guidance force generation, which allows the UAV to maintain high maneuverability, and a simple velocity control to obtain a desired velocity. A trajectory is provided with a cubic-spline interpolation of given waypoints in order to simplify the trajectory making process. Using the cubic-spline function along to the trajectory arc, virtual target-points for the proportional navigation are easily obtained by using a flight distance instead of the trajectory arc. With the proportional navigation guidance, UAV may avoid its control saturation or divergence even in large tracking-error situations. Simulation results show that the system with the proportional navigation guidance has more robustness for trajectory-tracking than in the case of using the tracking-error correction based method.
Keywords :
aerospace robotics; error correction; interpolation; mobile robots; navigation; position control; remotely operated vehicles; robust control; splines (mathematics); velocity control; UAV guidance; UAV maneuverability; control saturation; control system; cubic-spline interpolation; dynamic inversion technique; flight distance; guidance force generation; proportional navigation; robust trajectory-tracking method; trajectory arc; trajectory making; unmanned aerial vehicle; velocity control; Control systems; Interpolation; Navigation; Proportional control; Robustness; Target tracking; Trajectory; Unmanned aerial vehicles; Vehicle dynamics; Velocity control; Dynamic Inversion; Proportional Navigation; Trajectory Tracking; UAV;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
Type :
conf
DOI :
10.1109/ICCAS.2007.4406558
Filename :
4406558
Link To Document :
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