The problem of reliable design of vector-field path following in the presence of uncertain course dynamics

Ximan Wang, Spandan Roy, Stefano Farì, Simone Baldi

Research output: Contribution to journalConference articleScientificpeer-review

4 Citations (Scopus)
11 Downloads (Pure)

Abstract

Reliable guidance of fixed-wing Unmanned Aerial Vehicles (UAVs) is challenging, as their high maneuverability exposes them to several dynamical changes and parametric uncertainties. Reliability of state-of-the-art guidance methods is often at stake, as these methods heavily rely on precise UAV course dynamics, assumed in a decoupled first-order form with known time constant. To improve reliability of guidance for fixed-wing UAVs, this work proposes a novel vector field law that can handle uncertain course time constant and state-dependent uncertainty in the course dynamics arising from coupling. Stability is studied in the Lyapunov framework, while reliability of the proposed method is tested on a software-in-the loop UAV simulator. The simulations show that, in the presence of such uncertainty, the proposed method outperforms the standard vector field approaches.

Original languageEnglish
Pages (from-to)9399-9404
JournalIFAC-PapersOnline
Volume53 (2020)
Issue number2
DOIs
Publication statusPublished - 2021
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020

Keywords

  • Fixed-wing Unmanned Aerial Vehicles
  • Guidance navigation and control
  • Reliable design
  • Software-in-the loop UAV simulator
  • Uncertain course dynamics

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