Robust guidance law design for UAVs

Yung-Yu Chen, Yen Lung Chen, Bo Hui Zhou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents an advanced guidance law which is based on robust feedback linearization (RFL) concepts and design procedures for autonomous pursuit of predefined waypoints for unmanned aerial vehicles (UAVs) in the three-dimensional (3D) area. In this investigation, a nonlinear 3D model of UAV considered wind gust disturbances is used for realizing realistic flight maneuvers. In this investigation, the overall error dynamics between the guided UAV and tracked waypoints can be proven as being stability in absence of external disturbances, and all effects of the external disturbances, such as wind gust will be proven to be attenuated below a certain of attenuation level if they are taken into consideration. Besides, a viewable lab-based simulator is developed for the above guided UAV is built up by MATLAB software; it's capable of simulating both homogeneous and heterogeneous characteristics of the engaging air vehicles. Finally, tracking performances between the proposed robust guidance law and the feedback linearization based guidance law are demonstrated the by comparison results.

Original languageEnglish
Title of host publication11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PublisherIEEE Computer Society
Pages44-49
Number of pages6
ISBN (Print)9781479928378
DOIs
Publication statusPublished - 2014
Event11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
Duration: 2014 Jun 182014 Jun 20

Other

Other11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
CountryTaiwan
CityTaichung
Period14-06-1814-06-20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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