Title :
Following straight line and orbital paths with input constraints
Author :
Beard, R.W. ; Humpherys, J.
Author_Institution :
Electr. & Comput. Eng. Dept., Brigham Young Univ., Provo, UT, USA
fDate :
June 29 2011-July 1 2011
Abstract :
This paper considers the problem of fixed wing unmanned air vehicles following straight lines and orbits. To account for ambient winds, we use a path following approach as opposed to trajectory tracking. The unique feature of this paper is that we explicitly account for roll angle constraints and flight path angle constraints. The guidance laws are derived using the theory of nested saturations.
Keywords :
autonomous aerial vehicles; mobile robots; fixed wing unmanned air vehicles; flight path angle constraints; guidance laws; input constraints; nested saturation theory; orbital paths; path following approach; roll angle constraints; straight line; trajectory tracking; Dynamics; Equations; Kinematics; Mathematical model; Orbits; Trajectory; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5990840
