An Optimal L1 Navigation Design Framework for Constrained Heading Control and Coordination

L1 navigation is widely used for path following. In this paper, it is applied to the heading control and coordination in constrained scenarios. A dedicated optimization framework, which can be tailored to requirements of different problems, is developed to determine the optimal L1 subject to geometric constraints, control inequality constraints and other constraints on demand. Moreover, the cost function may be designed flexibly. In the first application study, the time- and energy-minimum cost functions are selected respectively in the two cases of the unmanned aerial vehicle (UAV) runway alignment. In addition, the proposed framework is capable of determining proper L1 values for coordinative guidance, and it is validated in the second application study where multiple UAVs achieve a simultaneous alignment. Simulation results demonstrate the applicability and effectiveness of the proposed framework.

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