Fixed wing UAV path following in wind with input constraints

IEEE Transactions on Control Systems Technology

Volumn 22, Issue 6, 2014, Pages 2103-2117

  Beard, Randal W ^a   Ferrin, Jeff ^b   Humpherys, Jeffrey ^b  

^a Department of Electrical and Computer Engineering   (United States)

^b BRIGHAM YOUNG UNIVERSITY   (United States)

Author keywords

Aircraft Navigation; motion planning; nonlinear control systems; unmanned systems.

Indexed keywords

NONLINEAR CONTROL SYSTEMS;

AIRCRAFT NAVIGATION; INPUT CONSTRAINTS; PATH FOLLOWING; UNMANNED SYSTEM;

MOTION PLANNING;

EID: 84908238812     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2014.2303787     Document Type: Article

References (20)

1. P. Aguiar D. Da?ci"c J. Hespanha, and P. Kokotivic, "Path-following or reference-tracking? An answer relaxing the limits to performance," in Proc. 5th IFAC/EURON Symp. IAV, Lisbon, Portugal, Jul. 2004, pp. 1-6.
2. A. P. Aguiar J. P. Hespanha, and P. V. Kokotovic, "Path-following for nonminimum phase systems removes performance limitations," IEEE Trans. Autom. Control, vol. 50, no. 2, pp. 234-238, Feb. 2005.
3. J. Hauser and R. Hindman, "Maneuver regulation from trajectory tracking: Feedback linearizable systems," in Proc. IFAC Symp. Nonlinear Control Syst. Des. , Tahoe City, CA, USA, Jun. 1995, pp. 595-600.
4. P. Encarnaçao and A. Pascoal, "Combined trajectory tracking and path following: An application to the coordinated control of marine craft," in Proc. 40th IEEE Conf. Decision Control, Orlando, FL, USA, Dec. 2001, pp. 964-969.
5. R. Skjetne T. Fossen, and P. Kokotovic, "Robust output maneuvering for a class of nonlinear systems," Automatica, vol. 40, no. 3, pp. 373-383, Mar. 2004.
6. R. Rysdyk, "UAV path following for constant line-of-sight," in Proc. AIAA 2nd Unmanned Unlimited Conf. , Sep. 2003, no. AIAA-2003-6626, pp. 1-10.
7. R. W. Beard and T. W. McLain, Small Unmanned Aircraft: Theory and Practice. Princeton, NJ, USA: Princeton Univ. Press, 2012.
8. D. R. Nelson D. B. Barber T. W. McLain, and R. W. Beard, "Vector field path following for miniature air vehicles," IEEE Trans. Robot. , vol. 37, no. 3, pp. 519-529, Jun. 2007.
9. D. R. Nelson D. B. Barber T. W. McLain, and R. W. Beard, "Vector field path following for small unmanned air vehicles," in Proc. Amer. Control Conf. , Minneapolis, MN, USA, Jun. 2006, pp. 5788-5794.
10. D. A. Lawrence E. W. Frew, and W. J. Pisano, "Lyapunov vector fields for autonomous UAV flight control," AIAA J. Guid. , Control, Dyn. , vol. 31, no. 5, pp. 1220-12229, Sep. /Oct. 2008.
11. E. W. Frew and D. Lawrence, "Tracking expanding star curves using guidance vector fields," in Proc. Amer. Control Conf. , Montreal, QC, Canada, Jun. 2012, pp. 1749-1754.
12. V. M. Goncalves L. C. A. Pimenta C. A. Maia B. C. O. Durtra, and G. A. S. Pereira, "Vector fields for robot navigation along timevarying curves in n-dimensions," IEEE Trans. Robot. , vol. 26, no. 4, pp. 647-659, Aug. 2010.
13. A. Brezoescu T. Espinoza P. Castillo, and R. Lozano, "Adaptive trajectory following control of a fixed-wind UAV in presence of crosswind," J. Intell. Robot. Syst. , vol. 69, nos. 1-4, pp. 257-271, Jan. 2013.
14. S. Park J. Deyst, and J. P. How, "Performance and Lyapunov stability of a nonlinear path-following guidance method," AIAA J. Guid. , Control, Dyn. , vol. 30, no. 6, pp. 1718-1728, Nov. /Dec. 2007.
15. A. R. Teel, "Global stabilization and restricted tracking for multiple integrators with bounded controls," Syst. Control Lett. , vol. 18, no. 3, pp. 165-171, Mar. 1992.
16. P. Castillo R. Lozano, and A. E. Dzul, Modelling and Control of Mini-Flying Machines. New York, NY, USA: Springer-Verlag, 2005.
17. P. Castillo R. Lozano, and A. Dzul, "Stabilization of a mini rotorcraft with four rotors," IEEE Control Syst. Mag. , vol. 25, no. 6, pp. 45-55, Dec. 2005.
18. H. Chitsaz and S. M. LaValle, "Time-optimal paths for a Dubins airplane," in Proc. 46th IEEE Conf. Decision Control, Dec. 2007, pp. 2379-2384.
19. R. W. Beard and J. Humpherys, "Following straight line and orbit paths with input constraints," in Proc. Amer. Control Conf. , San Francisco, CA, USA, Jun. 2011, pp. 1587-1592.
20. H. K. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, NJ, USA: Prentice-Hall, 2002.