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CLC number: V24

On-line Access: 2013-01-31

Received: 2012-06-15

Revision Accepted: 2012-12-19

Crosschecked: 2013-01-16

Cited: 4

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Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE C 2013 Vol.14 No.2 P.125-132

http://doi.org/10.1631/jzus.C1200195


Nonlinear path-following method for fixed-wing unmanned aerial vehicles


Author(s):  Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang

Affiliation(s):  Department of Automation, Tsinghua University, Beijing 100084, China; more

Corresponding email(s):   zhangjm09@mails.tsinghua.edu.cn

Key Words:  Path following, Virtual target, Flight control, Unmanned aerial vehicle (UAV)


Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang. Nonlinear path-following method for fixed-wing unmanned aerial vehicles[J]. Journal of Zhejiang University Science C, 2013, 14(2): 125-132.

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author="Jia-ming Zhang, Qing Li, Nong Cheng, Bin Liang",
journal="Journal of Zhejiang University Science C",
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pages="125-132",
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doi="10.1631/jzus.C1200195"
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%A Bin Liang
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1200195

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T1 - Nonlinear path-following method for fixed-wing unmanned aerial vehicles
A1 - Jia-ming Zhang
A1 - Qing Li
A1 - Nong Cheng
A1 - Bin Liang
J0 - Journal of Zhejiang University Science C
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IS - 2
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.C1200195


Abstract: 
A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft. The aircraft can asymptotically approach the defined path with smooth movements. Meanwhile, the aircraft can anticipate the upcoming transition of the flight path. Moreover, the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop. This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control. The performance of the proposed path-following method is validated by the numerical simulation.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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