首页|Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to fol-low a predefined flight path.To cope with various wind conditions,this paper proposes a wind dis-turbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the inner-loop.Since the control input vector for the outer-loop kinematic subsystem needs to sat-isfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the com-pensation and nominal components.Moreover,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind dis-turbance compensated guiding vector field.High-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

Path followingGuiding vector fieldWind disturbanceDisturbance rejectionFixed wings

Hao LU、Lan GAO、Yunda YAN、Mingzhe HOU、Chenliang WANG

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Hangzhou Innovation Institute,Beihang University,Hangzhou 310051,China

School of Information Science and Technology,Hangzhou Normal University,Hangzhou 311121,China

Department of Computer Science,University College London,London WC1E 6BT,United Kingdom

Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China

School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

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National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaZhejiang Provincial Natural Science Foundation of ChinaHeilongjiang Touyan Team Program,China

62273024622030346207309662073016LZ22F030012

2024

10.1016/j.cja.2023.09.020

中国航空学报(英文版)
中国航空学会

中国航空学报(英文版)

CSTPCDEI
影响因子：0.847
ISSN：1000-9361
年,卷(期)：2024.37(2)
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