Nonlinear Control Design for an Unmanned Aerial Vehicle for Path Following

被引：0
|
作者：
Singh, Shivam Kumar [1 ]
Sinha, Abhinav [1 ]
Kumar, Shashi Ranjan [1 ]
机构：
[1] Indian Inst Technol, Dept Aerosp Engn, Intelligent Syst & Control Lab, Mumbai, Maharashtra, India
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 01期
关键词：
Trajectory tracking; Autonomous vehicles; Sliding mode control; Path following; Unmanned Aerial Vehicle (UAV)/Drone; TRAJECTORY TRACKING; UAV;
D O I：
10.1016/j.ifaco1.2022.04.097
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, we design a nonlinear controller for an autonomous unmanned aerial vehicle (UAV) to follow a predefined trajectory. The UAV is made to follow the desired path by driving the UAV's relative distance to the path, and its look angle to zero. The proposed design is easy to implement as it does not need path curvature information and uses the philosophy of target pursuit to follow the predefined path. We further demonstrate the merits of the proposed method through simulations for various cases in accurately tracking straight line and curvilinear paths. Copyright (C) 2022 The Authors.
引用
收藏
页码：592 / 597
页数：6
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