This paper presents a track guidance algorithm verified with Lyapunov stability theory. In order to minimize the track error between a pre-assigned flight path and the position of an UAV, its heading or yaw rate is gu...
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ISBN:
(纸本)9781467371605
This paper presents a track guidance algorithm verified with Lyapunov stability theory. In order to minimize the track error between a pre-assigned flight path and the position of an UAV, its heading or yaw rate is guided to keep a certain distance ahead on the flight path. The proposed guidancealgorithm is a spatial version of the first order dynamics for a time-dependent system. An invariant tracking performance is guaranteed in a spatial domain so that a constant flight trajectory pattern is obtained regardless of a speed of the vehicle. Crucial design parameters are a spatial constant and a gain K_p. The spatial constant determines a shape of the convergence to an assigned flight path and the gain K_p affects convergence stability of an UAV trajectory. Hence, Lyapunov stability theory and LaSalle's invariance principle are applied to show that the guidancealgorithm is asymptotically stable and to decide the available boundaries of the spatial constant and the gain K_p. Reference flight trajectories are designed based on a two-dimensional vehicle model, and the proposed algorithm is verified by numerical simulations using six degree of freedom rigid body UAV dynamics with MATLAB/Simulink Aerosim Blockset.
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