Autonomous Maneuver Tracking for Self-Piloted Vehicles

Boyle, David P.; Chamitoff, Gregory

doi:10.2514/2.g5438-e

Cited by 6 publications

(7 citation statements)

References 1 publication

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“…Once a UAV is equipped with maneuvering ability against a moving target, we can let the UAV execute some tasks automatically, such as, formation flight, 5 target aircraft following, 6,7 path-following flight. [8][9][10][11] This paper concentrates on the target following UAVs and introduces an advanced pure pursuit guidance method with full model of six-degree-offreedom, non-linear equations of motion, with the help of an attitude and velocity controller taking account of aircraft dynamics. A dynamic inversion approach is used for attitude control in order to enhance the maneuverability of UAV.…”

Section: Introductionmentioning

confidence: 99%

Advanced Pure Pursuit Guidance via Sliding Mode Approach for Chase UAV

Yamasaki

Enomoto

Takano

et al. 2009

AIAA Guidance, Navigation, and Control Conference

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This paper introduces an advanced pure pursuit guidance method for chase UAV. The advanced pure pursuit guidance method employs a sliding mode approach using a proper Lyapunov function, which is based on a three-dimensional expression related to a line of sight (LOS) angle. In order to apply the sliding mode approach to the pure pursuit guidance, a simple surface vector and a derivation scheme from the sliding approach solution are also introduced. The guidance and control system employs the advanced pure pursuit guidance to determine the UAV's commanded bank angle and angle of attack , and a two-time scaled dynamic inversion technique to control the attitude, which draws on the UAV's high maneuverability and chasing capability.

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Section: Introductionmentioning

confidence: 99%

Advanced Pure Pursuit Guidance via Sliding Mode Approach for Chase UAV

Yamasaki

Enomoto

Takano

et al. 2009

AIAA Guidance, Navigation, and Control Conference

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“…In Ref. 2 it is shown that the control system performance significantly degrades when the trimming algorithm is eliminated and the trajectory tracking relies only on the LQ controller. However, when the approach of Ref.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking for a helicopter model

Avanzini

2001

Aeronaut. j.

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In this paper an algorithm for the trajectory tracking of a three-dimensional trajectory, assigned as a function of time, is presented. The proposed control system is suitable for application on unmanned aerial vehicles (UAVs) or for aircraft that require accurate path tracking, as in the case of rotorcraft in nap-of-the-earth (NOE) flight conditions. The control system logic features (i) an external loop based on a simple guidance scheme and a two-time-scale inverse simulation algorithm, and (ii) an inner loop, based on a linear-quadratic (LQ) full-state-feedback controller. In this way the control action is split into two contributions, i.e. a feedforward command, in order to follow the trajectory generated by the guidance scheme, and a feedback increment, for compensating external disturbances and model uncertainties. A rotorcraft model is used to demonstrate the algorithm capability in a NOE–like flight task. System robustness is analysed and control system performance are discussed in terms of the error between vehicle state and desired trajectory at a given time. Simulation of a representative manoeuvre shows that the feedforward estimate of the control action is accurate and only minor compensation is required from the LQ tracker. The algorithm is suitable for a number of applications, as (i) no simplifying assumptions are postulated for the model, (ii) there are no restrictions on the flight condition, and (iii) the computational time should allow for real–time implementation.

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“…Inertial trajectory control is essential for these UAVs, since they are usually required to follow predetermined paths through certain target points in the threedimensional air space [29,96,97,151,171,172,184]. Other situations where trajectory control is desired include formation control, aerial refueling and autonomous landing maneuvers [68,155,156,168,182,207].…”

Section: Motivationmentioning

confidence: 99%

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

Sonneveldt¹

2011

Advances in Flight Control Systems

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Autonomous Maneuver Tracking for Self-Piloted Vehicles

Cited by 6 publications

References 1 publication

Advanced Pure Pursuit Guidance via Sliding Mode Approach for Chase UAV

Advanced Pure Pursuit Guidance via Sliding Mode Approach for Chase UAV

Trajectory tracking for a helicopter model

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

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