![]() Extensive numerical simulation studies on a nonlinear UAV model are conducted to demonstrate the effectiveness of the proposed methodologies. To avoid the complicated calculation of derivatives of virtual control terms in backstepping, command filters and auxiliary systems are likewise introduced in the design of control laws. A fixed-time nonlinear estimator, based on UAV kinematics, is designed for estimating the uncertainties with sideslip angles caused by external disturbances and inertial motions. ![]() Both backstepping and finite-time techniques are employed for developing the path following and heading control strategies capable of minimizing cross-track errors in finite-time with elegant transient performance, while the barrier Lyapunov function scheme is adopted to limit turning rates of the UAV for preventing it from capsizing which may be induced by overquick steering actions. This paper presents a new nonlinear path following scheme integrated with a heading control law for achieving accurate and reliable path following performance. With growing worldwide interests in commercial, scientific, and military issues, there has been a corresponding rapid growth in demand for the development of unmanned aerial vehicles (UAVs) with more reliable and safer motion control abilities. Krasovskii, Game Problems of the Encounter of Motions (Nauka, Moscow, 1970). Semina, Game Theory (Vysshaya Shkola, Moscow, 1998). Sachkov, Control Theory from the Geometric Viewpoint (Fizmatlit, Moscow, 2005 Springer, Berlin, 2004).Ī. Zisserman, Multiple View Geometry in Computer Vision (Cambridge Univ. Zhang, Epipolar Geometry in Stereo, Motion and Object Recognition: A Unified Approach (Springer, Dordrecht, 1996). Parusnikov, Mathematical Foundations of Navigation Systems, Part 1: Mathematical Models of Inertial Navigation (Mosk. on Systems, Man, and Cybernetics, Nashville, USA, October 8-11, 2000 (IEEE Press, Piscat.away, 2000), pp. Takada, "A Man-Machine Interface for Camera Control in Remote Monitoring Using Line-of-Sight," in Proc. on Computer Science & Education, Nagoya, Japan, August 23-25, 2016. Yamada, "Analysis of Lines of Sight while Playing Sport Using a Newly Developed Lines-of-Sight. Peng, "Missile Guidance Law Design Using Adaptive Cerebellar Model Articulation Controller," IEEE Trans. on Communications and Signal Processing, Melmaruvathur, India, April 2-4, 2015. Abirami, "Automatic Target Tracker for Main Battle Tank," in Proc. Guidance and Control of Underactuat.ed Marine Vehicles: Theory, Simulations, and Experiments," IEEE Trans. 12th World Congress on Intelligent Control and Automation, Guilin, China, June 12-15, 2016. Guidance Law for Straight Line Path Following with Exact Sideslip Compensation." in Proc. on Intelligent Systems and Control, Coimbatore, India, January 78, 2016. Nonlinear Control Using Two Wheels," in Proc. Zacliarikov, "A System of Stabilization and Guidance of Line of Sight with an Increased Angle of View," Izv. on Decision and Control and 28th Chinese Control Conf., Shanghai, China, December 15-18, 2009. Rezac, "Combined Line-of-Sight Inertial Stabilization and Visual Tracking: Application to an Airborne Camera Platform," in Proc. on Automotive Engineering (ICAE-6), Bangkok, Thailand, March 29 April 2, 2010. Malithong, "Control oflnertial Stabilization Systems Using Robust Inverse Dynamics Control and Sliding Mode Control," in Proc.
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