Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Autor:	Harikumar, K, Pushpangathan, Jinraj V., Dhall, Sidhant, Bhat, M. Seetharama
Rok vydání:	2019
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	A solution to the waypoint navigation problem for fixed wing micro air vehicles (MAV) is addressed in this paper, in the framework of integrated guidance and control (IGC). IGC yields a single step solution to the waypoint navigation problem, unlike conventional multiple loop design. The pure proportional navigation (PPN) guidance law is integrated with the MAV dynamics. A multivariable static output feedback (SOF) controller is designed for the linear state space model formulated in the IGC framework. The waypoint navigation algorithm handles the minimum turn radius constraint of the MAV. The algorithm also evaluates the feasibility of reaching a waypoint. Extensive non-linear simulations are performed on high fidelity 150 mm wingspan MAV model to demonstrate the potential advantages of the proposed waypoint navigation algorithm.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1911.01063 Zobrazit plný text záznamu View this record from Arxiv