An Adaptive Three-Dimensional Nonlinear Path Following Method for a Fix-Wing Micro Aerial Vehicle : Un metodo adattativo tridimensionale non lineare per inseguimento di un percorso per un micro veicolo aereo ad ala fissa, in: International Journal of Advanced Robotic Systems

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Autor	Miao, Cun-Xiao; Fang, Jian-Cheng
Erschienen	InTech Open Access Publisher, 2012
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Kurzbeschreibung	This paper describes an adaptive control approach of three‐dimensional (3D) nonlinear path following for a fix‐wing micro aerial vehicle (MAV) with wind disturbances in complicated terrain. We derive the control laws of course and flight path angle by the constructed Lyapunov function applying vector field theory based on the error equations in the Serret‐Frenet frame, which are built by virtue of the relationship between the nonlinear desired trajectory and MAV. The 3D desired trajectory is fitted by using the fifth‐order B‐splines method through a sequence of waypoints created and sent by the ground station. Furthermore, the control laws are proved to be converged asymptotically and stably based on Lyapunov stability arguments. The results of the flight test experiment show that the flight could perform well under wind disturbances with a good trajectory tracking precision and high flight quality.

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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004

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International Journal of Advanced Robotic Systems

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=33377009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33377009.html
PDF		An Adaptive Three-Dimensional Nonlinear Path Following Method for a Fix-Wing Micro Aerial Vehicle

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Univ. Cassino

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Publikationsdatum		2012
Lizenzinformation		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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An Adaptive Three-Dimensional Nonlinear Path Following Method for a Fix-Wing Micro Aerial Vehicle : Un metodo adattativo tridimensionale non lineare per inseguimento di un percorso per un micro veicolo aereo ad ala fissa, in: International Journal of Advanced Robotic Systems

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