Title :
Combined vector field approach for planar curved path following with fixed-wing UAVs
Author :
Yueqian Liang ; Yingmin Jia ; Zhuo Wang ; Matsuno, Fumitoshi
Author_Institution :
Center for Inf. & Control, Beihang Univ. (BUAA), Beijing, China
Abstract :
In this paper the problem of planar curved path following using fixed-wing unmanned aerial vehicles (UAVs) is studied. UAV input constraints and constant wind disturbance are considered. A combined vector field is proposed by trading off a conservative vector field and a solenoidal vector field. Accordingly a saturated course rate controller is designed, and its stability is discussed through the Lyapunov stability theory. Simulation examples show us the effectiveness of the approach.
Keywords :
Lyapunov methods; autonomous aerial vehicles; position control; simulation; stability; vectors; wind; Lyapunov stability theory; conservative vector field; fixed-wing UAV; fixed-wing unmanned aerial vehicles; planar curved path following; simulation; solenoidal vector field; wind disturbance; Computer aided software engineering; Convergence; Electronic mail; Lyapunov methods; Stability analysis; Target tracking; Wind speed;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7172278
