Optimal Path Following for Small Fixed-Wing UAVs Under Wind Disturbances
Optimal Path Following for Small Fixed-Wing UAVs Under Wind Disturbances
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DOI：
10.1109/tcst.2020.2980727
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发表时间：
2020-04
影响因子：
4.8
通讯作者：
Jun Yang;Cunjia Liu;M. Coombes;Yunda Yan;Wen‐Hua Chen
中科院分区：
文献类型：
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作者：
Jun Yang;Cunjia Liu;M. Coombes;Yunda Yan;Wen‐Hua Chen
利用非线性最优控制方法和风扰动观测器，提出了一种新的固定翼无人机路径跟踪算法。与已有的一些算法不同，该算法通过引入路径参数的辅助动力学，将路径跟踪问题转化为控制问题。所提出的控制器是以最优和系统的方式设计的，其中控制动作是根据明确定义的代价函数来产生的。这种框架不需要任何复杂的几何坐标变换，可以很容易地调整以适应弯曲的参考路径，使其直接部署在不同的飞行任务中。此外，基于非线性扰动观测器提供的风估计值，所提出的算法明显补偿了风对路径跟踪性能的影响。分析了闭环系统的稳定性，包括路径参数的辅助动态和风速估计的观测器动态。仿真研究和实际飞行试验都充分验证了该算法的可行性和有效性。
This article presents a novel path-following algorithm for fixed-wing unmanned aerial vehicles by virtue of a nonlinear optimal control approach and wind disturbance observers. Different from some exiting algorithms, the proposed algorithm formulates the path-following problem into a control problem by introducing auxiliary dynamics for the path parameter. The proposed controller is designed in an optimal and systematic manner where the control action is generated according to a well-defined cost function. This framework does not require any complex geometric coordinate transformation and can be easily tuned to accommodate curved reference paths, making it straightforward to deploy in different flight missions. Moreover, the wind influences on the path-following performance is explicitly compensated by the proposed algorithm based on the wind estimates provided by nonlinear disturbance observers. The closed-loop stability, including the auxiliary dynamics for path parameter and observer dynamics for wind estimation, is also analyzed. The feasibility and effectiveness of the proposed algorithm have been thoroughly validated in simulation studies and realistic flight tests.