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

Hao LU ¹Lan GAO ²Yunda YAN ³Mingzhe HOU ⁴Chenliang WANG⁵

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作者信息

1. Hangzhou Innovation Institute,Beihang University,Hangzhou 310051,China
2. School of Information Science and Technology,Hangzhou Normal University,Hangzhou 311121,China
3. Department of Computer Science,University College London,London WC1E 6BT,United Kingdom
4. Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China
5. School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China
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Abstract

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.

Key words

Path following/Guiding vector field/Wind disturbance/Disturbance rejection/Fixed wings

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基金项目

National Natural Science Foundation of China(62273024)

National Natural Science Foundation of China(62203034)

National Natural Science Foundation of China(62073096)

National Natural Science Foundation of China(62073016)

Zhejiang Provincial Natural Science Foundation of China(LZ22F030012)

Heilongjiang Touyan Team Program,China()

出版年

2024

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

参考文献量3

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