Journal
AEROSPACE SCIENCE AND TECHNOLOGY
Volume 86, Issue -, Pages 204-214Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
DOI: 10.1016/j.ast.2019.01.021
Keywords
Collision avoidance; Guidance law; Collision cone; Finite time convergent; Nonlinear disturbance observer
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Funding
- National Natural Science Foundation of China [61603220, 61333005, 61733009]
- Shandong Provincial Natural Science Foundation [at2014FQ008]
- Research Fund for the Taishan Scholar Project of Shandong Province of China
- SDUST Young Teachers Teaching Talent Training Plan [BJRC20180503]
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In this paper, a fast finite-time convergent guidance law with nonlinear disturbance observer is proposed for the problem of unmanned aerial vehicle collision avoidance. First, a linear time-varying collision avoidance model based on a collision cone is established. Then a fast finite-time convergent guidance law and a nonlinear disturbance observer are designed to ensure the safety of UAV collision avoidance. In addition, the stability of a nonlinear collision avoidance system is proved by the finite-time convergence stability theory, and the stability conditions are used to design the guidance coefficients. The simulation results conclusively demonstrate that this method can achieve collision avoidance in the presence of an unknown acceleration of obstacle. Moreover, the performance of collision avoidance using this method is greater than the collision avoidance method based on normal finite time convergent guidance. (C) 2019 Elsevier Masson SAS. All rights reserved.
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