Integrated Guidance and Autopilot for a Path-Following UAV via High-Order Sliding Modes

被引：0
|
作者：
Yamasaki, Takeshi [1 ]
Balakrishnan, S. N. [2 ]
Takano, Hiroyuki [1 ]
机构：
[1] Natl Def Acad Japan, Dept Aerosp Engn, Kanagawa 2398686, Japan
[2] Missour Univ Sci & Technol, Dept Mech & Aerosp Engn, Rolla, MO 65409 USA
来源：
2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年
关键词：
DIFFERENTIATION; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study focuses on the integrated guidance and autopilot (IGA) design for a path-following uninhabited aerial vehicle (UAV). A second order sliding structure which facilitates smooth bank and turn coupled motions is used for path-following flight applications. A high-order sliding mode (HOSM) differentiator is used for the estimation of the uncertain sliding surfaces. In order to apply the IGA system for a path-following UAV, a virtual target, set in a pre-specified path, is used. The potential of the proposed method is demonstrated through a UAV path-following application to a helical ascent flight under wind turbulence circumstances.
引用
收藏
页码：143 / 148
页数：6
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