Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-02-28
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
With growing worldwide interests in commercial, scientific, and military issues, there has been a corresponding rapid growth in demand for the development of unmanned aerial vehicles (UAVs) with more reliable and safer motion control abilities.
This paper presents a new nonlinear path following scheme integrated with a heading control law for achieving accurate and reliable path following performance.
Both backstepping and finite-time techniques are employed for developing the path following and heading control strategies capable of minimizing cross-track errors in finite-time with elegant transient performance, while the barrier Lyapunov function scheme is adopted to limit turning rates of the UAV for preventing it from capsizing which may be induced by overquick steering actions.
A fixed-time nonlinear estimator, based on UAV kinematics, is designed for estimating the uncertainties with sideslip angles caused by external disturbances and inertial motions.
To avoid the complicated calculation of derivatives of virtual control terms in backstepping, command filters and auxiliary systems are likewise introduced in the design of control laws.
Extensive numerical simulation studies on a nonlinear UAV model are conducted to demonstrate the effectiveness of the proposed methodologies.
American Psychological Association (APA)
Cui, Zhengyang& Wang, Yong. 2020. Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1195235
Modern Language Association (MLA)
Cui, Zhengyang& Wang, Yong. Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints. Mathematical Problems in Engineering No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1195235
American Medical Association (AMA)
Cui, Zhengyang& Wang, Yong. Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1195235
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195235