Abstract
This article presents a novel path-following algorithm for fixed-wing unmanned aerial vehicles by virtue of a nonlinear optimal control approach and wind disturbance observers. Different from some exiting algorithms, the proposed algorithm formulates the path-following problem into a control problem by introducing auxiliary dynamics for the path parameter. The proposed controller is designed in an optimal and systematic manner where the control action is generated according to a well-defined cost function. This framework does not require any complex geometric coordinate transformation and can be easily tuned to accommodate curved reference paths, making it straightforward to deploy in different flight missions. Moreover, the wind influences on the path-following performance is explicitly compensated by the proposed algorithm based on the wind estimates provided by nonlinear disturbance observers. The closed-loop stability, including the auxiliary dynamics for path parameter and observer dynamics for wind estimation, is also analyzed. The feasibility and effectiveness of the proposed algorithm have been thoroughly validated in simulation studies and realistic flight tests.
Highlights
R ECENT years have witnessed many successful applications of unmanned aerial vehicles (UAVs) in different domains, ranging from environmental monitoring, search, and rescue to surveillance and reconnaissance
Another problem to be addressed in path following of fixedwing UAV is the influence of environmental wind, which can cause significant discrepancy between the wind frame, where the UAV is operated, and the ground framework, where the reference path is defined
The results show that the proposed algorithm exhibits promising performance compared with several existing solutions for path following under wind disturbances
Summary
R ECENT years have witnessed many successful applications of unmanned aerial vehicles (UAVs) in different domains, ranging from environmental monitoring, search, and rescue to surveillance and reconnaissance. The guideline for tuning the weighting matrices and the prediction horizon associated with the proposed algorithm are discussed in detail, which is related to asymptomatic stability of the closed-loop systems Another problem to be addressed in path following of fixedwing UAV is the influence of environmental wind, which can cause significant discrepancy between the wind frame, where the UAV is operated, and the ground framework, where the reference path is defined. The observers are designed by virtue of higher order sliding mode techniques to provide both velocity and acceleration estimates These estimates are integrated into prediction and receding horizon optimization processes of the path-following function, which results in an optimized offset-free path-following algorithm for fixedwing UAVs. due to the characteristic of slide mode observer, finite-time estimation can be achieved for any bounded disturbances, which is more suitable for unknown time-varying wind gusts.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
