This paper presents practical aspects of guidance and control design for UAV and its flight test results. The paper focuses on the lateral-directional control and guidance aspects. An introduction to the mission and guidance problem is given first. Waypoints for straight and turning flight paths are defined. Computation of various flight path parameters is discussed, including formulae for real-time calculation of down-range (distance travelled along the desired track), cross-track deviation, and heading error of the vehicle; these are then used in the lateral guidance algorithm. The same section also describes how to make various mission-related decisions online during flight, such as when to start turning and when a waypoint is achieved. The lateral guidance law is then presented, followed by the design of a robust multivariable H∞ controller for roll control and stability augmentation. The controller uses the ailerons and rudder for control of roll angle and stabilization of yaw rate of the vehicle. The reference roll angle is generated by the nonlinear guidance law. The sensors available on-board the vehicle do not measure yaw rate; hence, a practical method of its estimation is proposed. The entire guidance and control scheme is implemented on the flight control computer of the actual aerial vehicle and taken to flight. Flight test results for different mission profiles are presented and discussed.
Guidance and Control of an Autonomous Soaring Vehicle with Flight Test Results