Robust fixed-wing UAV guidance with circulating artificial vector fields
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Universidade Federal de Minas Gerais
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This paper presents a guidance vector field strategy to control a fixed-wing UAV (unmanned aerial vehicle)subject to uncertainty in order to converge to and circulate a closed curve in ℝ3. The control system is designed based on a reference model of the airplane with constrained input controls. The law is independent of the vector field's structure, however, some analysis considers a consolidated vector field approach. Asymptotic stability is proven with Lyapunov Theory and ultimate bounds are found when bounded uncertainties are taken into account. The control law is continuous except in the surroundings of the unavoidable field's singularities. A theorem ensures asymptotic convergence when a switch is made. Simulations with a 6 DOF, 12 states realistic aircraft model demonstrate the efficiency of the strategy and its advantages.
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Aeronave não tripulada, Teoria do controle
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Convergence , Uncertainty , Atmospheric modeling , Aircraft , Three-dimensional displays , Unmanned aerial vehicles , Shape, Unmanned Aerial Vehicles , Vector Field , Fixed-wing Unmanned Aerial Vehicles , Optimal Control , Realistic Model , Asymptotically Stable , Reference Model , Closed Curve , Uncertainty In Order , Simple Model , Straight Line , Model Uncertainty , Lyapunov Function , Model Predictive Control , Non-planar , Yaw Angle , Ball Of Radius , Formal Proof , Low-level Control , Forward Speed , Plane Curve
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https://ieeexplore.ieee.org/document/8594371