Integrated Guidance and Autopilot for a Path-Following UAV via High-Order Sliding Modes

被引：0

作者：

Yamasaki, Takeshi ^{[1
]}

Balakrishnan, S. N. ^{[2
]}

Takano, Hiroyuki ^{[1
]}

机构：

[1] Natl Def Acad Japan, Dept Aerosp Engn, Kanagawa 2398686, Japan

[2] Missour Univ Sci & Technol, Dept Mech & Aerosp Engn, Rolla, MO 65409 USA

来源：

2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年

关键词：

DIFFERENTIATION; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study focuses on the integrated guidance and autopilot (IGA) design for a path-following uninhabited aerial vehicle (UAV). A second order sliding structure which facilitates smooth bank and turn coupled motions is used for path-following flight applications. A high-order sliding mode (HOSM) differentiator is used for the estimation of the uncertain sliding surfaces. In order to apply the IGA system for a path-following UAV, a virtual target, set in a pre-specified path, is used. The potential of the proposed method is demonstrated through a UAV path-following application to a helical ascent flight under wind turbulence circumstances.

引用

页码：143 / 148

页数：6

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