Nonlinear 3-D trajectory guidance for unmanned aerial vehicles

Author

Ahmed, Mousumi ; Subbarao, Kamesh

Author_Institution

Dept. of Mech. & Aerosp. Eng., Univ. of Texas at Arlington, Arlington, TX, USA

fYear

2010

fDate

7-10 Dec. 2010

Firstpage

1923

Lastpage

1927

Abstract

In this paper, we propose a backstepping based nonlinear guidance controller, designed for 3-D path tracking for a UAV. The guidance law design assumes first order dynamics for the speed, heading and elevation angles. We demonstrate closed loop stability via Lyapunov analysis. The efficacy of the controller is demonstrated for two cases, namely the straight path following and a curved path following.

Keywords

Lyapunov methods; aerospace robotics; closed loop systems; control system synthesis; mobile robots; nonlinear control systems; path planning; position control; remotely operated vehicles; stability; tracking; 3D path tracking; Lyapunov analysis; UAV; backstepping based nonlinear guidance controller; closed loop stability; curved path following; first order dynamics; guidance law design; nonlinear 3D trajectory guidance; straight path following; unmanned aerial vehicle; Backstepping; Lyapunov method; Target tracking; Trajectory; Unmanned aerial vehicles; Vehicle dynamics; Nonlinear guidance; Trajectory tracking; UAV;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-7814-9

Type

conf

DOI

10.1109/ICARCV.2010.5707911

Filename

5707911