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Tracking control for UAV trajectory

Authors :
Yang Xiuxia
Zhao Hewei
Zhang Yi
Zhou Weiwei
Source :
Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference.
Publication Year :
2014
Publisher :
IEEE, 2014.

Abstract

An online UAV collision avoidance trajectory planning algorithm based on Pythagorean Hodograph (PH) curve is presented. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the backstepping trajectory tracking control is introduced. The location and crossing heading equations were established within the Serret-Frenet coordinates. The asymptotically stable convergence crossing heading law was designed based on the error formulations. The flight experimental results show that the proposed adaptive tracking control method are effective.

Details

Database :
OpenAIRE
Journal :
Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference
Accession number :
edsair.doi...........ee5ab8e125ebc4d7a9c60ed0f090c689