Fixed Wing UAV Path Following in Wind With Input Constraints

被引：121

作者：

Beard, Randal W. ^{[1
]}

Ferrin, Jeff ^{[2
]}

Humpherys, Jeffrey ^{[3
]}

机构：

[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA

[2] Brigham Young Univ, MAGICC Lab, Provo, UT 84602 USA

[3] Brigham Young Univ, Dept Math, Provo, UT 84602 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2014年 / 22卷 / 06期

基金：

美国国家科学基金会;

关键词：

Aircraft Navigation; motion planning; nonlinear control systems; unmanned systems; VECTOR-FIELDS; STABILIZATION; PERFORMANCE; TRACKING;

D O I：

10.1109/TCST.2014.2303787

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 paper considers the problem of fixed wing unmanned air vehicles following straight lines and orbits. To account for ambient winds, we use a path following approach as opposed to trajectory tracking. The unique feature of this paper is that we explicitly account for roll and flight path angle constraints. The guidance laws are derived using the theory of nested saturations, and explicit flight conditions are derived that guarantee convergence to the path. The method is validated by simulation and flight tests.

引用

页码：2103 / 2117

页数：15

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