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A Novel Robust Finite-time Stable Trajectory Tracking Scheme for Fixed Wing Unmanned Aerial Vehicles | IEEE Conference Publication | IEEE Xplore

A Novel Robust Finite-time Stable Trajectory Tracking Scheme for Fixed Wing Unmanned Aerial Vehicles


Abstract:

In this paper, we discuss the problem of trajectory tracking for fixed-wing unmanned aerial vehicles (UAVs) subject to external disturbances and model uncertainties. Base...Show More

Abstract:

In this paper, we discuss the problem of trajectory tracking for fixed-wing unmanned aerial vehicles (UAVs) subject to external disturbances and model uncertainties. Based on simplified aerodynamics model, the translational motion equation of fixed-wing UAV is linearized to derive the 6-state model. Under the assumption that the altitude channel is regulated by a PID controller separately, a novel robust practical finite time controller is proposed for planar motion control. The designed control law consists of a nominal nonlinear controller and a first order robust compensator. The robust and finite time stabilizing properties are proved and evaluated through hardware in the loop simulations.
Date of Conference: 26-28 July 2021
Date Added to IEEE Xplore: 06 October 2021
ISBN Information:

ISSN Information:

Conference Location: Shanghai, China

1 Introduction

Over the past decades, along with the furious development of unmanned technology, UAV has attracted widespread concern in both civilian and military areas. Among them, small fixed-wing UAVs have been extensively employed in such sceneries like environmental monitoring and military reconnaissance, due to their small size, long-endurance and capability of large load [1]. To accomplish the expected missions, UAVs are demanded to track the reference trajectory or prescribed geometric path precisely. Hence, trajectory tracking and path following are fundamental issues of UAVs’ flight control.

References

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