Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind
Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind
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DOI：
10.1007/s10846-012-9756-8
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发表时间：
2013
影响因子：
3.3
通讯作者：
A. Brezoescu;T. Espinoza;P. Castillo;R. Lozano
中科院分区：
文献类型：
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作者：
A. Brezoescu;T. Espinoza;P. Castillo;R. Lozano
针对固定翼无人机在未知风场中的航向控制问题，提出了一种自适应反演方法。从飞机横向运动方程推导出了跨航迹误差相对于所需轨迹的动力学。提出了自适应律来估计未知干扰的参数，并将其应用于闭环系统。利用李雅普诺夫理论证明了系统的稳定性。此外，考虑到未知的阵风的几个模拟进行分析的行为和鲁棒性的控制方案。为了验证所提出的控制律，已经开发了一个测试平台。
An adaptive backstepping approach to obtain directional control of a fixed-wing UAV in presence of unknown crosswind is developed in this paper. The dynamics of the cross track error with respect to a desired trajectory is derived from the lateral airplane equations of motion. Adaptation laws are proposed to estimate the parameters of the unknown disturbances and are employed in closed-loop system. The stability analysis is proved using Lyapunov theory. In addition, several simulations taking into account unknown wind gusts are performed to analyze the behavior and the robustness of the control scheme. A test platform has been developed in order to validate the proposed control law.