Keywords
UAS, unmanned aircraft path following, wind disturbance rejection
Abstract
In this paper, a method for accurate path following for miniature air vehicles is developed. The method is based on the notion of vector fields, which are used to generate desired course inputs to inner-loop attitude control laws. Vector-field path-following control laws are developed for straight-line paths and circular arcs and orbits. Lyapunov stability arguments are used to demonstrate asymptotic decay of path-following errors in the presence of constant wind disturbances. Experimental flight tests have demonstrated mean path-following errors on less than one wingspan for straight-line and orbit paths and less than three wingspans for paths with frequent changes in direction.
Original Publication Citation
Nelson, D., Barber, B., McLain, T., and Beard, R. Vector Field Path Following for Miniature Air Vehicles, IEEE Transactions on Robotics, vol. 23, no. 3, pp. 519-529, June 2007.
BYU ScholarsArchive Citation
McLain, Timothy; Nelson, Derek R.; Barber, D. Blake; and Beard, Randall W., "Vector Field Path Following for Miniature Air Vehicles" (2007). Faculty Publications. 1902.
https://scholarsarchive.byu.edu/facpub/1902
Document Type
Peer-Reviewed Article
Publication Date
2007-06-25
Permanent URL
http://hdl.lib.byu.edu/1877/3855
Publisher
IEEE
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/4252175/
Copyright Use Information
http://lib.byu.edu/about/copyright/