Alla pagina principale della DMG-Lib
Home  · Mappa del sito  · Contatta  ·
DMG-Lib Home + News
Rovistare
Ricerca
Sperimenta DMG-Lib
About us
Aiuto
 		 
Ricerca avanzata   Ricerca di un meccanismo

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
thumbnail
Dokument öffnen (benötigt JavaScript)   Documenti accessibili

Informazioni generali
Autore Miao, Cun-Xiao; Fang, Jian-Cheng
Pubblicato  InTech Open Access Publisher, 2012
edizione  
Volume  
ISBN
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.
Collections
Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: 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, [...]
Pubblicato: 2004
Linked items
Documents: International Journal of Advanced Robotic Systems
Permanent links
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=33377009
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
Data provider
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

nach oben torna su
Informazioni corporative  · Protezione dei dati  · Termini      
×