Path Following for Unmanned Aerial Vehicles Using L1 Adaptive Augmentation of Commercial Autopilots
Path Following for Unmanned Aerial Vehicles Using L1 Adaptive Augmentation of Commercial Autopilots
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DOI：
10.2514/1.42056
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发表时间：
2010-03-01
影响因子：
2.6
通讯作者：
Dobrokhodov, Vladimir
中科院分区：
文献类型：
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作者：
Kaminer, Isaac;Pascoal, Antonio;Dobrokhodov, Vladimir
本文提出了一种三维路径跟踪控制算法，扩展了传统的自动驾驶仪，这是通常设计为只提供导航回路的航点导航的能力。该算法的实现拓宽了小型无人机的应用范围。所提出的解决方案明确利用了这样一个事实，即通常这些飞行器配备有自动驾驶仪，以稳定飞行器并提供角速率跟踪能力。因此，整个闭环系统自然呈现出内-外（动力学-运动学）控制回路结构。外环路径跟踪控制律的发展依赖于一个非线性控制策略，在运动学的水平，而内环组成的自动驾驶仪连同L-1自适应增强回路的设计，以满足严格的性能要求，在存在的无人机建模的不确定性和环境干扰。给出了路径跟踪闭环系统的稳定性和性能的严格证明，包括无人机及其自动驾驶仪的动力学。本文弥合了理论与实践之间的差距，并包括在加州罗伯茨营进行的大量飞行试验的结果，这些结果证明了控制系统设计所采用的框架的好处。
The paper presents a three-dimensional path-following control algorithm that expands the capabilities of conventional autopilots, which are normally designed to provide only guidance loops for waypoint navigation. Implementation of this algorithm broadens the range of possible applications of small unmanned aerial vehicles. The solution proposed takes explicit advantage of the fact that normally these vehicles are equipped with autopilots stabilizing the vehicles and providing angular-rate tracking capabilities. Therefore, the overall closed-loop system exhibits naturally an inner-outer (dynamics-kinematics) control loop structure. The outer-loop path-following control law developed relies on a nonlinear control strategy derived at the kinematic level, while the inner-loop consisting of the autopilot together with an L-1 adaptive augmentation loop is designed to meet strict performance requirements in the presence of unmanned aerial vehicle modeling uncertainty and environmental disturbances. A rigorous proof of stability and performance of the path-following closed-loop system, including the dynamics of the unmanned aerial vehicle with its autopilot, is given. The paper bridges the gap between theory and practice and includes results of extensive flight tests performed in Camp Roberts, California, which demonstrate the benefits of the framework adopted for the control system design.