Robust fixed-wing UAV guidance with circulating artificial vector fields

Página do item simplificado
dc.creatorAdriano M. C. Rezende
dc.creatorVinicius M. Gonçalves
dc.creatorGuilherme Vianna Raffo
dc.creatorLuciano C. A. Pimenta
dc.date.accessioned2025-04-16T16:02:16Z
dc.date.accessioned2025-09-08T22:50:08Z
dc.date.available2025-04-16T16:02:16Z
dc.date.issued2018
dc.identifier.doi10.1109/IROS.2018.8594371
dc.identifier.urihttps://hdl.handle.net/1843/81661
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectTeoria do controle
dc.subject.otherConvergence , Uncertainty , Atmospheric modeling , Aircraft , Three-dimensional displays , Unmanned aerial vehicles , Shape
dc.subject.otherUnmanned 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
dc.titleRobust fixed-wing UAV guidance with circulating artificial vector fields
dc.typeArtigo de evento
local.citation.epage5899
local.citation.spage5892
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8594371

Arquivos

Licença do pacote

Agora exibindo 1 - 1 de 1
Imagem de Miniatura
Nome:
License.txt
Tamanho:
1.99 KB
Formato:
Plain Text
Descrição:
Baixar

Coleções

Artigo de Evento

Logo UFMG