A Simple Optimal Planer Path Following Algorithm for Unmanned Aerial Vehicles∗
A Simple Optimal Planer Path Following Algorithm for Unmanned Aerial Vehicles∗
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一种简单的无人机最优平面路径跟随算法*
DOI：
10.23919/ecc.2018.8550125
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Wen‐Hua Chen
中科院分区：
文献类型：
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作者：
Jun Yang;Cunjia Liu;Zongyu Zuo;Wen‐Hua Chen
在本文中，我们提出了一个简单的最优路径跟踪算法的通用小型固定翼无人机凭借预测控制方法。与大多数现有的路径跟踪算法不同，该算法是以最优的方式设计的，其中控制动作是基于一个定义良好的成本函数产生的。此外，所提出的方法的设计，而不诉诸于任何复杂的几何坐标变换。因此，所得的最优控制律是直接的实际实施。三个算例的仿真研究验证了该方法的有效性。
In this paper, we present a simple optimal path following algorithm for a generic small fixed-wing unmanned aerial vehicle by virtue of a predictive control approach. Different from most of exiting path following algorithms, the proposed algorithm is designed in an optimal manner where the control action is generated based on a well-defined cost function. In addition, the presented approach is designed without resorting to any complex geometric coordinate transformation. Thereby the resultant optimal control law is straightforward for practical implementation. The effectiveness of the present method is validated by three cases of simulation studies.