Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
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The work here presented contributes to the development of ground target tracking control systems for fixed wing unmanned aerial vehicles (UAVs). The control laws are derived at the kinematic level, relying on a commercial inner loop controller onboard that accepts commands in indicated air speed and bank, and appropriately sets the control surface deflections and thrust in order to follow those references in the presence of unknown wind. Position and velocity of the target on the ground is assumed to be known. The algorithm proposed derives from a path following control law that enables the UAV to converge to a circumference centered at the target and moving with it, thus keeping the UAV in the vicinity of the target even if the target moves at a velocity lower than the UAV stall speed. If the target speed is close to the UAV speed, the control law behaves similar to a controller that tracks a particular point on the circumference centered at the target position. Real flight tests results show the good performance of the control scheme presented.