UAV Broken-Line Path Following under Disturbance Conditions

For the broken-line path following problem of unmanned aerial vehicles (UAVs), to enhance the ability to reject wind disturbance and reduce position error overshoot when a UAV turns in the switching position of a broken-line path, this paper proposes a novel UAV three-dimensional broken-line path following control system. The control system is divided into four linear active disturbance rejection control (LADRC) loops based on a novel proportional-integral extended state observer (PI-ESO), a guidance law based on inverse dynamic resolving method and the broken-line path switching methodology. For the LADRC loops, inspired by proportional-integral observer, integral terms are introduced to a linear ESO (LESO) and a novel PI-ESO is proposed. A parameter tuning method for the PI-ESO is proposed for engineering application according to the idea of bandwidth parameterization. The broken-line path switching methodology adjusts the ground speed of a UAV at the proper time and speed magnitude according to the direction of the UAV and the relative position between the UAV and waypoints. The process contains three stages: speed reduction at uniform acceleration, turning at a lower speed, and speed recovery based on a fuzzy logic controller. The simulations demonstrate the effectiveness of the proposed path following control system.

• Record URL:
  • https://doi.org/10.1061/(ASCE)AS.1943-5525.0000924
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/08931321
• Supplemental Notes:
  • © 2018 American Society of Civil Engineers.
• Authors:
  • Wu, Jianfa
  • Wang, Honglun
  • Su, Zikang
  • Shao, Xingling
• Publication Date: 2018-11

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: 04018089
• Serial:
  • Journal of Aerospace Engineering
  • Volume: 31
  • Issue Number: 6
  • Publisher: American Society of Civil Engineers
  • ISSN: 0893-1321
  • EISSN: 1943-5525
  • Serial URL: http://ascelibrary.org/journal/jaeeez

Subject/Index Terms

• TRT Terms: Control systems; Drones; Flight dynamics; Fuzzy controllers; Simulation; Trajectory control
• Subject Areas: Aviation; Vehicles and Equipment;

Filing Info

• Accession Number: 01683876
• Record Type: Publication
• Files: TRIS, ASCE
• Created Date: Oct 22 2018 4:27PM