Nonlinear Guidance and Control Laws for Three-Dimensional Target Tracking Applied to Unmanned Aerial Vehicles

Kamesh Subbarao; Mousumi Ahmed

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Nonlinear Guidance and Control Laws for Three-Dimensional Target Tracking Applied to Unmanned Aerial Vehicles

机译：无人机目标三维跟踪的非线性制导与控制律

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In this paper, a backstepping-based nonlinear guidance controller is developed, designed for three-dimensional trajectory tracking for an unmanned aerial vehicle. The guidance law design assumes first-order dynamics for the speed, course/heading, and flight path angles. The three-dimensional kinematic model is simplified to yield a seemingly decoupled system that separates the course/heading from the flight path angle. A closed loop stability of the guidance laws via Lyapunov analysis is demonstrated, and the efficacy of the controller is illustrated for three representative cases.

机译：本文开发了一种基于后推的非线性制导控制器，设计用于无人机的三维轨迹跟踪。制导律设计假设速度，航向/航向和飞行路径角度为一阶动力学。简化了三维运动学模型，以产生看似去耦的系统，该系统将航向/航向与飞行路径角分开。通过Lyapunov分析证明了制导律的闭环稳定性，并说明了三种典型情况下控制器的功效。

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来源
《Journal of aerospace engineering》 |2014年第3期|604-610|共7页
作者
Kamesh Subbarao; Mousumi Ahmed;
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作者单位

Dept. of Mechanical and Aerospace Engineering, Univ. of Texas, Arlington, TX 76019;

Dept. of Mechanical and Aerospace Engineering, Univ. of Texas, Arlington, TX 76019;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Nonlinear guidance; Unmanned aerial vehicle (UAV); Trajectory tracking; Backstepping;

机译：非线性制导;无人机（UAV）;轨迹跟踪;后退;

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2. A unitized guidance law for over-flight and standoff tracking of a ground target with fixed wing unmanned aerial vehicle [J] . Zhang Min, Xia Weizheng, Chen Xin Proceedings of the Institution of Mechanical Engineers . 2018,第6期

机译：固定翼无人飞行器对目标空中飞越和对峙跟踪的统一制导律
3. Ground Target Tracking Guidance Law for Fixed-Wing Unmanned Aerial Vehicle: A Search and Capture Approach [J] . Zhang Min, Tian Pengfei, Chen Xin, Journal of Dynamic Systems, Measurement, and Control . 2017,第10期

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4. Guidance law design for tracking mobile ground targets using an unmanned aerial vehicle with a fixed camera [C] . Liang Sun, Daniel Pack International Conference on Unmanned Aircraft Systems . 2016

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5. Fault-Tolerant Trajectory Tracking of Unmanned Aerial Vehicles Using Immunity-Based Model Reference Adaptive Control. [D] . Wilburn, Brenton K. 2014

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6. Virtual Electric Dipole Field Applied to Autonomous Formation Flight Control of Unmanned Aerial Vehicles [O] . Leszek Ambroziak, Maciej Ciężkowski 2021

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7. Design of Standoff Cooperative Target-Tracking Guidance Laws for Autonomous Unmanned Aerial Vehicles [O] . Zhen Li, Xin Chen, Zhenhua Zhao 2021

机译：自主无人航空公司的宿舍合作目标跟踪指导法设计

Nonlinear Guidance and Control Laws for Three-Dimensional Target Tracking Applied to Unmanned Aerial Vehicles

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