Robust path following using a small fixed-wing airplane for aerial research

Autor:	H. Escamilla Nunez, Rogelio Lozano, G. Flores
Rok vydání:	2015
Předmět:	Lyapunov stability Vehicle dynamics Engineering business.product_category business.industry Robustness (computer science) Convergence (routing) Path (graph theory) Trajectory Control engineering Aerodynamics business Airplane
Zdroj:	2015 International Conference on Unmanned Aircraft Systems (ICUAS).
DOI:	10.1109/icuas.2015.7152420
Popis:	This paper describes a navigation algorithm for small fixed-wing airplanes so as to perform path following. The wind gusts need to be taken into account as they play a key role in small prototypes, being the main disturbance when flights are performed. To solve this issue, we use an algorithm known in the literature as carrot-chasing, which includes wind estimates. A Lyapunov stability based control strategy is proposed in order to improve robustness. The convergence of the position to the desired path is proved theoretically and tested in Matlab simulations. A review of the testbed and the expected future work is presented.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::75c7b20d225b0520ce4cbac7a7f96247 https://doi.org/10.1109/icuas.2015.7152420 Zobrazit plný text záznamu