Three-Dimensional Nonlinear Differential Geometric Path-Following Guidance Law

Cho, Namhoon; Kim, Youdan; Park, Sanghyuk

doi:10.2514/1.g001060

Cited by 62 publications

(51 citation statements)

References 47 publications

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“…An effective and general guidance law for 3D trajectory tracking, which is based on the virtual target‐following approach, is used in this paper to determine the desired system output based on the desired trajectory components. In this approach, the guidance law is designed such that the vehicle tracks a moving target along the desired trajectory.…”

Section: Trajectory Tracking Controlmentioning

confidence: 99%

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

Emami

Banazadeh

2019

Intl J Robust & Nonlinear

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Summary This research deals with developing an intelligent trajectory tracking control approach for an aircraft in the presence of internal and external disturbances. Internal disturbances including actuators faults, unmodeled dynamics, and model uncertainties as well as the external disturbances such as wind turbulence significantly affect the performance of the common trajectory tracking control approaches. There are several fault‐tolerant control approaches in the literature to overcome the effects of specific actuator or sensor faults during the flight. However, trajectory tracking control of an air vehicle in the presence of unexpected faults and simultaneous presence of wind turbulence is still a challenging problem. In this paper, an intelligent neural network‐based model predictive control structure is proposed, where the prediction model is updated in each iteration based on a novel proposed online sequential multimodel structure. A hybrid offline‐online learning algorithm is adopted in the introduced online sequential multimodel structure to identify the time‐varying dynamics of the system. The proposed control structure can satisfactorily deal with unexpected actuator faults and structural damages as well as unmodeled dynamics and wind turbulence. The stability of the closed‐loop system is proved under some realistic assumptions. The simulation results demonstrate the high capability of the proposed approach for trajectory tracking control of a conventional aircraft in the simultaneous presence of system faults and external disturbances.

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Section: Trajectory Tracking Controlmentioning

confidence: 99%

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

Emami

Banazadeh

2019

Intl J Robust & Nonlinear

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“…For purely directional guidance, traditional look-ahead approaches ( [6], [9]) consider a constant speed unicycle model directionally driven via normal acceleration command…”

Section: Directional Guidancementioning

confidence: 99%

“…In words, the vehicle should converge to the path while heading in the correct direction. Similar to [9], we define a purely track-error based lookahead vectorl:l = cos θ lê + sin θ ltP (10) whereê = e/ e , e = 0 is the unit track-error and lookahead angle θ l = f (e) ∈ 0, π 2 maps track-offset to a reference angle of approach to the path.…”

Section: A Baseline Path Followingmentioning

confidence: 99%

“…This "look-ahead" method is simple (implemented easily on a microcontroller), intuitive to tune (following further extentions in [7]), and quite effective in practice; however, it has the detriments that 1) convergence to the path is only guaranteed for lines and circles, and 2) as shown in [8], the logic breaks down once winds approach and/or exceed the vehicle's airspeed. The law was abstracted in [9] to a more general form capable of following any smooth, continuous 3D path, though without consideration of wind.…”

mentioning

confidence: 99%

“…In our previous work, we took the method from [9] in a different direction and reformulated the 2D case for consideration of excess wind cases (i.e. wind speed > airspeed) [8].…”

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confidence: 99%

See 2 more Smart Citations

On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds

Stastny

Siegwart

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-lineof-sight (BVLOS) will inevitably encounter winds rising to levels near or exceeding the vehicles' nominal airspeed. In this paper, we develop a nonlinear lateral-directional path following guidance law with explicit consideration of online wind estimates. Energy efficient airspeed reference compensation logic is developed for excess wind scenarios (i.e. when the wind speed rises above the airspeed), enabling either mitigation, prevention, or over-powering of excess wind induced run-away from a given path. The developed guidance law is demonstrated on a representative small, low-speed test UAV in two flight experiments conducted in mountainous regions of Switzerland with strong, turbulent wind conditions, gusts reaching up to 13 meters per second. We demonstrate trackkeeping errors of less than 1 meter consistently maintained during a representative duration of gusting, excess winds and a mean ground speed undershoot of 0.5 meters per second from the commanded minimum forward ground speed demonstrated in over 5 minutes of the showcased flight results.

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Control of Underactuated Marine Vehicles

Ellenrieder

Dietrich²

2021

Control of Marine Vehicles

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Three-Dimensional Nonlinear Differential Geometric Path-Following Guidance Law

Cited by 62 publications

References 47 publications

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds

Control of Underactuated Marine Vehicles

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