Guidance and Control System Design for Chase UAV

Abstract

This paper introduces a guidance and control system for chase UAV along with a novel velocity control. The velocity controller is designed based on a dynamic inversion approach in conjunction with pseudo target setting, which allows UAV to take high speed yo-yo maneuvers to keep a desired relative distance from a target aircraft. The guidance and control system employs the pure pursuit guidance to determine the UAV’s orientation, and a two-time scaled dynamic inversion technique to control the attitude, which enable the UAV to keep the high maneuverability and the chasing capability. y x , , = Components of position vector w.r.t. body axes, [m] I I I z y x , , = Components of position vector w.r.t. body axes, [m] w v u , , = Components of airplane velocity along x, y, z body axes, [m/s] r q p , , = Components of airplane angular velocity about x, y, z body axes, [rad/s] ψ θ φ , , = Components of airplane angular velocity about x-, y-, and z- body axis, respectively, [rad] or [deg] r a e δ δ δ , , = deflection of elevator, aileron and rudder, [rad] or [deg]