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LGVF Nonlinear Disturbance Observer Based Path Fol lowing for a Small Fixed Wing UAV
LGVF Nonlinear Disturbance Observer Based Path Fol lowing for a Small Fixed Wing UAV
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机译：小型固定翼无人机基于LGVF非线性扰动观测器的路径跟踪
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摘要
The present invention relates to a path tracking method of a small fixed-wing unmanned aerial vehicle and an LGVF path tracking controller using the same, and more particularly, to a path tracking method of a small fixed-wing unmanned aerial vehicle considering the effect of disturbance. To this end, the LGVF path tracking controller of the present invention includes an LGVF control unit that receives a direction angle command, an airspeed, and a high-level guidance command for a fixed-wing unmanned aerial vehicle from the outside, and receives an estimated disturbance speed calculated from a nonlinear disturbance controller; A direction angle calculation control unit for calculating a final direction angle of the fixed wing unmanned aerial vehicle using the difference between the direction angle of the fixed wing unmanned aerial vehicle calculated by the LGVF and the direction angle of the fixed wing unmanned aerial vehicle in an ideal environment without disturbance; And a nonlinear disturbance controller that calculates an estimated disturbance speed by using sensor data including the position, posture, and speed of the fixed wing unmanned aerial vehicle from the final direction angle provided by the direction angle calculation controller and the sensor.
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