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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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Auteur Miao, Cun-Xiao; Fang, Jian-Cheng
Publié  InTech Open Access Publisher, 2012
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Abstract 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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Articles de journal
2000 et après
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Auteur: 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, [...]
Publié: 2004
Linked items
Documents: International Journal of Advanced Robotic Systems
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33377009.html
PDF FaviconPDF  An Adaptive Three-Dimensional Nonlinear Path Following Method for a Fix-Wing Micro Aerial Vehicle
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Administrative information
Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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