TY - GEN
T1 - Vector field guidance for three-dimensional curved path following with fixed-wing UAVs
AU - Liang, Yueqian
AU - Jia, Yingmin
AU - Du, Junping
AU - Zhang, Jun
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - This paper investigates the three-dimensional (3D) curved path following problem using fixed-wing unmanned aerial vehicles (UAVs) in the presence of constant wind disturbance. Vector field based approaches are used as the solution. Two vector fields are first developed, one is the tangent vector field based on path tangent vector and coordinate transformation, and the other is the combined vector field based on the combination of a conservative vector field and a solenoidal vector field. A unified jointly saturated course rate and saturated climb rate controller is designed based on the proposed vector fields. Simulations are conducted to demonstrate the effectiveness of the proposed approach.
AB - This paper investigates the three-dimensional (3D) curved path following problem using fixed-wing unmanned aerial vehicles (UAVs) in the presence of constant wind disturbance. Vector field based approaches are used as the solution. Two vector fields are first developed, one is the tangent vector field based on path tangent vector and coordinate transformation, and the other is the combined vector field based on the combination of a conservative vector field and a solenoidal vector field. A unified jointly saturated course rate and saturated climb rate controller is designed based on the proposed vector fields. Simulations are conducted to demonstrate the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=84940908755&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7170894
DO - 10.1109/ACC.2015.7170894
M3 - Conference contribution
AN - SCOPUS:84940908755
T3 - Proceedings of the American Control Conference
SP - 1187
EP - 1192
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 American Control Conference, ACC 2015
Y2 - 1 July 2015 through 3 July 2015
ER -