Abstract
A PD nonlinear dynamic inverse guidance law finite time convergence is proposed for the problem of UAV's collision avoidance in this paper. First, a proportional-derivative nonlinear dynamic inverse guidance law, which can be applied to multiple initial angles and speeds, is designed to ensure the security of UAV's collision avoidance. In addition, the stability of guidance law is proved by the circle criterion, and stability conditions are used to design coefficients of guidance law. In order to analysis the performance of this guidance law, a simulation system based on 6-DOF UAV is established. The results conclusively demonstrate that the maneuvering range of collision avoidance is smaller than the collision avoidance method based on traditional nonlinear dynamic inverse guidance.
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