Trajectory following control of UAVs with wind disturbance

This paper studies the trajectory following control algorithm for UAVs with the wind disturbance. Firstly, the lateral motion equations of fixed-wing UAVs are established. A disturbance observer is designed to estimate the unknown wind disturbance. Then, the backstepping control strategy combined with the output of disturbance observer is designed to realize the trajectory following, and the stability analysis of the closed-loop system is also conducted. Finally, simulation results are provided to illustrate the effectiveness of the proposed control algorithm.

[1]  Johannes A.G.M. van Dijk,et al.  Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design , 2002 .

[2]  Stergios I. Roumeliotis,et al.  Algorithms and sensors for small robot path following , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  Timothy W. McLain,et al.  Maximizing miniature aerial vehicles , 2006, IEEE Robotics & Automation Magazine.

[4]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[5]  Jianqiao Yu,et al.  Modified central force optimization (MCFO) algorithm for 3D UAV path planning , 2016, Neurocomputing.

[6]  Nabil Aouf,et al.  Quadrotor control for trajectory tracking in presence of wind disturbances , 2014, 2014 UKACC International Conference on Control (CONTROL).

[7]  R. Ciupa,et al.  International Conference , 2023, In Vitro Cellular & Developmental Biology - Animal.

[8]  Alessandro Rucco,et al.  A Predictive Path-Following Approach for Fixed-Wing Unmanned Aerial Vehicles in Presence of Wind Disturbances , 2015, ROBOT.

[9]  Carl D. Crane,et al.  Evaluating a PID, pure pursuit, and weighted steering controller for an autonomous land vehicle , 1998, Other Conferences.

[10]  Rogelio Lozano,et al.  Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind , 2013, J. Intell. Robotic Syst..

[11]  Namhoon Cho,et al.  Three-Dimensional Nonlinear Differential Geometric Path-Following Guidance Law , 2015 .

[12]  P. Cochat,et al.  Et al , 2008, Archives de pediatrie : organe officiel de la Societe francaise de pediatrie.

[13]  Aníbal Ollero,et al.  Stability analysis of mobile robot path tracking , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[14]  Lambert Schomaker,et al.  2000 IEEE/RSJ International Conference On Intelligent Robots And Systems , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[15]  Raza Samar,et al.  Lateral track control of UAVs using the sliding mode approach: from design to flight testing , 2015 .

[16]  Jonathan P. How,et al.  Performance and Lyapunov Stability of a Nonlinear Path Following Guidance Method , 2007 .

[17]  Rogelio Lozano,et al.  Wind estimation for accurate airplane path following applications , 2013 .

[18]  Kouhei Ohnishi,et al.  An Analysis of Parameter Variations of Disturbance Observer for Motion Control , 2007, IEEE Transactions on Industrial Electronics.