Title :
Nonlinear 3-D trajectory guidance for unmanned aerial vehicles
Author :
Ahmed, Mousumi ; Subbarao, Kamesh
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Texas at Arlington, Arlington, TX, USA
Abstract :
In this paper, we propose a backstepping based nonlinear guidance controller, designed for 3-D path tracking for a UAV. The guidance law design assumes first order dynamics for the speed, heading and elevation angles. We demonstrate closed loop stability via Lyapunov analysis. The efficacy of the controller is demonstrated for two cases, namely the straight path following and a curved path following.
Keywords :
Lyapunov methods; aerospace robotics; closed loop systems; control system synthesis; mobile robots; nonlinear control systems; path planning; position control; remotely operated vehicles; stability; tracking; 3D path tracking; Lyapunov analysis; UAV; backstepping based nonlinear guidance controller; closed loop stability; curved path following; first order dynamics; guidance law design; nonlinear 3D trajectory guidance; straight path following; unmanned aerial vehicle; Backstepping; Lyapunov method; Target tracking; Trajectory; Unmanned aerial vehicles; Vehicle dynamics; Nonlinear guidance; Trajectory tracking; UAV;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707911
