Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 22, Issue 6, Pages 2103-2117Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2014.2303787
Keywords
Aircraft Navigation; motion planning; nonlinear control systems; unmanned systems
Funding
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [1161036] Funding Source: National Science Foundation
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This paper considers the problem of fixed wing unmanned air vehicles following straight lines and orbits. To account for ambient winds, we use a path following approach as opposed to trajectory tracking. The unique feature of this paper is that we explicitly account for roll and flight path angle constraints. The guidance laws are derived using the theory of nested saturations, and explicit flight conditions are derived that guarantee convergence to the path. The method is validated by simulation and flight tests.
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