| Autor: |
Cezary Kownacki, Leszek Ambroziak |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 22, Iss 15, p 5474 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s22155474 |
| Popis: |
Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is especially difficult in the case of nonholonomic vehicles having limited possibilities of making turns, causing a lack of stability. An asymmetrical artificial potential field (AAPF) is the way to achieve the stability of position tracking by nonholonomic UAVs, but it is only a nonlinear proportional relation to feedback given by a tracking error. Therefore, there can still be a steady-state error or error overshoots. Combining an AAPF with integral and derivative terms can improve the response of control by damping overshoots and minimizing the steady-state error. Such a combination results in a regulator whose properties allow defining it as nonlinear PID. Numerical simulation confirms that integral and derivative terms together with an AAPF create a control loop that can minimize overshoots of the tracking error and the steady-state error and satisfy conditions of asymptotical stability. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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