Study of Flight Path Tracking and Control of an UAV in 3D Space

doi:10.3969/j.issn.1000-1093.2016.01.010

Abstract

Abstract: A flight path tracking problem is studied for underactuated UAV in 3D space. The question of flight path tracking is transformed into way-point tracking by choosing a serious point on flight path. A mathematic model is established.The speed frame is alined to the desired frame so that position tracking is converted into attitude tracking. The guidance law is also deduced, and the theories of sliding variable structure and back-stepping are used to design the attitude controller and velocity controller. The direction of velocity vector is aligned to the position of a way-point by using the attitude controller. The speed of UAV is controlled by the velocity controller to make the UAV closing to a way-point. The guidance and control systems are simulated. The result shows that the designed controller is perfect in tracking and have a strong robustness.

Key words: control science and technology, back-stepping, sliding variable structure, UAV, flight path tracking, Lyapunov function

CLC Number:

V249.1

GUAN Jun, YI Wen-jun, CHANG Si-jiang, LIANG Zhen-dong, LYU Yi-pin. Study of Flight Path Tracking and Control of an UAV in 3D Space[J]. Acta Armamentarii, 2016, 37(1): 64-70.

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