TY - GEN
T1 - UAV path following based on BLADRC and inverse dynamic guidance approach
AU - Wu, Jianfa
AU - Wang, Honglun
AU - Li, Na
AU - Su, Zikang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/7
Y1 - 2018/2/7
N2 - In this paper, a three-dimensional UAV path following control system accounting for wind disturbance is designed to realize the mission that UAV can fly along the given waypoints. The system is divided into angular rate loop, angle loop, flight path loop and position loop. For the angular rate loop and the angle loop, they are based on back-stepping linear active disturbance rejection control (BLADRC). For the flight path loop, it is based on a novel maneuver generator (MG) with BLADRC and inverse dynamic method. For the position loop, it is based on the inverse dynamic guidance law. By utilizing the proposed control system, UAV can fly along the given waypoints and converge to straight-line paths between waypoints. The path can be adjusted online.
AB - In this paper, a three-dimensional UAV path following control system accounting for wind disturbance is designed to realize the mission that UAV can fly along the given waypoints. The system is divided into angular rate loop, angle loop, flight path loop and position loop. For the angular rate loop and the angle loop, they are based on back-stepping linear active disturbance rejection control (BLADRC). For the flight path loop, it is based on a novel maneuver generator (MG) with BLADRC and inverse dynamic method. For the position loop, it is based on the inverse dynamic guidance law. By utilizing the proposed control system, UAV can fly along the given waypoints and converge to straight-line paths between waypoints. The path can be adjusted online.
KW - UAV
KW - back-stepping active disturbance rejection control
KW - inverse dynamic method
KW - maneuver generator
KW - three-dimensional path following
KW - wind disturbance
UR - https://www.scopus.com/pages/publications/85047499200
U2 - 10.1109/ASCC.2017.8287203
DO - 10.1109/ASCC.2017.8287203
M3 - 会议稿件
AN - SCOPUS:85047499200
T3 - 2017 Asian Control Conference, ASCC 2017
SP - 400
EP - 405
BT - 2017 Asian Control Conference, ASCC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 11th Asian Control Conference, ASCC 2017
Y2 - 17 December 2017 through 20 December 2017
ER -