UAS Flight Simulation with Hardware-in-the-loop Testing and Vision Generation
Journal of Intelligent and Robotic Systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adversarial Ground Target Tracking Using UAVs with Input Constraints
Journal of Intelligent and Robotic Systems
Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind
Journal of Intelligent and Robotic Systems
Standoff Target Tracking using a Vector Field for Multiple Unmanned Aircrafts
Journal of Intelligent and Robotic Systems
Ground Target Tracking Using UAV with Input Constraints
Journal of Intelligent and Robotic Systems
Cooperative Control of Multiple UAVs for Source Seeking
Journal of Intelligent and Robotic Systems
Wind Estimation for Accurate Airplane Path Following Applications
Journal of Intelligent and Robotic Systems
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In this paper, a method for accurate path following for miniature air vehicles is developed. The method is based on the notion of vector fields, which are used to generate desired course inputs to inner-loop attitude control laws. Vector-field path-following control laws are developed for straight-line paths and circular arcs and orbits. Lyapunov stability arguments are used to demonstrate asymptotic decay of path-following errors in the presence of constant wind disturbances. Experimental flight tests have demonstrated mean path-following errors on less than one wingspan for straight-line and orbit paths and less than three wingspans for paths with frequent changes in direction.