国防科技大学学报2018，Vol.40Issue(2)：119-124,6.DOI:10.11887/j.cn.201802019
固定翼无人机曲线路径跟踪的积分向量场方法
Curved path following for fixed-wing unmanned aerial vehicles using integral vector field
摘要
Abstract
The conventional vector field method is very susceptible to unsteady wind disturbances in the handling of UAV(unmanned aerial vehicle)curved path following problems, which increases the tracking error.Therefore, many methods use the inertial coordinate system of a vehicle(the ground speed and the course)instead of the body coordinate system(the airspeed and the yaw angle)to improve the wind resistance. However, this method can only handle the wind disturbances with constant amplitude and direction,which is an ideal assumption in actual flight. In order to overcome these deficiencies,an integrated vector field method was proposed for actively cancelling unsteady wind disturbances using the integral of side-offsets for the curved path following of a fixed-wing UAV.According to the curvature of the desired path and the path angle, the curved path following strategy was designed on the basis of the state information of the vehicle itself,and the Lyapunov theory was used to prove that the proposed method can ensure the global asymptotic stability of the closed-loop system.Finally, the wind tracking performance of the proposed method was verified through the high performance hardware-in-the-loop simulation system.关键词
固定翼无人机/路径跟踪/积分向量场/非定常风扰Key words
fixed-wing unmanned aerial vehicles/path following/integral vector field/unsteady wind disturbance分类
航空航天引用本文复制引用
赵述龙,王祥科,张代兵,沈林成..固定翼无人机曲线路径跟踪的积分向量场方法[J].国防科技大学学报,2018,40(2):119-124,6.基金项目
国家自然科学基金资助项目(61403406) （61403406）
国家部委基金资助项目(41411020401) （41411020401）
