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Front. Inform. Technol. Electron. Eng.  2013, Vol. 14 Issue (2): 125-132    DOI: 10.1631/jzus.C1200195
    
Nonlinear path-following method for fixed-wing unmanned aerial vehicles
Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang
Department of Automation, Tsinghua University, Beijing 100084, China; Science and Technology on Aircraft Control Laboratory, Flight Automatic Control Research Institute, Xi'an 710065, China
Nonlinear path-following method for fixed-wing unmanned aerial vehicles
Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang
Department of Automation, Tsinghua University, Beijing 100084, China; Science and Technology on Aircraft Control Laboratory, Flight Automatic Control Research Institute, Xi'an 710065, China
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摘要： A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft. The aircraft can asymptotically approach the defined path with smooth movements. Meanwhile, the aircraft can anticipate the upcoming transition of the flight path. Moreover, the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop. This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control. The performance of the proposed path-following method is validated by the numerical simulation.
关键词： Path following;  Virtual target;  Flight control;  Unmanned aerial vehicle (UAV)    
Abstract: A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft. The aircraft can asymptotically approach the defined path with smooth movements. Meanwhile, the aircraft can anticipate the upcoming transition of the flight path. Moreover, the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop. This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control. The performance of the proposed path-following method is validated by the numerical simulation.
Key words: Path following    Virtual target    Flight control    Unmanned aerial vehicle (UAV)
收稿日期: 2012-06-15 出版日期: 2013-01-31
CLC:  V24  
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Jia-ming Zhang
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引用本文:

Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang. Nonlinear path-following method for fixed-wing unmanned aerial vehicles. Front. Inform. Technol. Electron. Eng., 2013, 14(2): 125-132.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1200195    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2013/V14/I2/125

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