Adaptive Optimal Path Following for High Wind Flights
Adaptive Optimal Path Following for High Wind Flights
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DOI：
10.3182/20110828-6-it-1002.03720
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Ashwini Ratnoo;P. Sujit;Mangal Kothari
中科院分区：
文献类型：
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作者：
Ashwini Ratnoo;P. Sujit;Mangal Kothari
摘要将无人机路径跟踪作为一个无限视界调节问题来研究。利用线性二次型调节器技术，导出了最优制导律。选择状态加权矩阵作为位置误差的函数，这种代价函数的自适应特性能很好地控制无人机的误差。对不同风况下的直线路径和圆形路径进行了数值模拟。结果表明，与现有制导律相比，该制导律的位置误差明显降低。路径跟随风速达到车辆空速的一半。
Abstract Unmanned aerial vehicle path following is addressed as an infinite horizon regulator problem. Using the linear quadratic regulator technique an optimal guidance law is derived. The state weighting matrix is chosen as a function of the position error and this adaptive nature of the cost function controls the UAV errors tightly. Numerical simulations are carried out for straight line and circular paths under various wind conditions. Results show considerably lower position errors as compared to an existing guidance law. Path following with winds up to half the vehicle airspeed is achieved.