An improved nonlinear guidance law for unmanned aerial vehicles path following

2015 ◽  
Author(s):  
Mao Yun Hui ◽  
Chen Qing Yang ◽  
Hou Zhong Xi ◽  
Guo Zheng
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Path Following ◽  
Guidance Law ◽  
Aerial Vehicles

scholarly journals Path Following and Obstacle Avoidance for Unmanned Aerial Vehicles Using a Virtual-Force-Based Guidance Law

2021 ◽  
Vol 11 (10) ◽  
pp. 4618
Author(s):  
Xun Wang ◽  
Libing Cai ◽  
Longxing Kong ◽  
Binfeng Wang ◽  
Shaohua Huang ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Path Following ◽  
Repulsive Force ◽  
Mass System ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Virtual Force ◽  
Straight Line ◽  
Spring Force

This paper presents a virtual-force-based guidance law (VFGL) for path following and obstacle avoidance in unmanned aerial vehicles. First, a virtual spring force and a virtual drag force are designed for straight-line following; then, the dynamic of the cross-track-error is equivalent to a spring mass system, which is easy to tune to acquire stability and non-overshoot convergence. Secondly, an additional virtual centripetal force is designed to counteract the influence of the curvature of the planned path so that the guidance law can accurately track a curve with a time-varying curvature. Thirdly, an extra virtual repulsive force is designed directly according to the sensor inputs; the virtual repulsive force pushes the vehicle away to move around obstacles. The use of artificial physics means the guidance law is founded on solid physical theory and is computationally simple. The physical meanings of the parameters are definite, and the VFGL has a large parameter adaptation. These make the guidance law easy to tune in application. Both the numerical and hardware-in-the-loop simulation results demonstrated the effectiveness of the proposed guidance law for path following and obstacle avoidance in unmanned aerial vehicles.

Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

2016 ◽  
Vol 232 (3) ◽  
pp. 481-491 ◽  
Author(s):  
Xu Zhu ◽  
Xun-Xun Zhang ◽  
Mao-De Yan ◽  
Yao-Hong Qu ◽  
Hai Lin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Second Order ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Cooperative Guidance ◽  
Consensus Strategy ◽  
Multiple Unmanned Aerial Vehicles

Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.

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