UAV Lateral Path Following: Nonlinear Sliding Manifold for Limited Actuation
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- 英文论文题名：UAV Lateral Path Following: Nonlinear Sliding Manifold for Limited Actuation
- 论文作者：Syed Ussama Ali ; Raza Samar ; M.Zamurad Shah
- 英文论文作者：Syed Ussama Ali ; Raza Samar ; M.Zamurad Shah ; Center of Excellence in Science and Applied Technologies (CESAT)
- 年：2017
- 作者机构：Center of Excellence in Science and Applied Technologies (CESAT);
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：1250k
- 原文格式：D
- 会议级别：全国
摘要
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles(UAVs) application with limited actuation. Following the inner(control) and outer(guidance)loop structure, the proposed guidance scheme resides in outer loop and generates reference bank angle commands for the inner control loop. The proposed 1~(st) order SMC algorithm based on nonlinear sliding surface is derived using the kinematic equations for bank-to-turn vehicles. Mathematical proof of existence of sliding mode and actuation boundedness of the closed-loop is also provided. The proposed guidance and control system performance is verified via simulation results for different scenario. A high fidelity nonlinear 6-degrees-offreedom(6-dof) scaled Yak-54 UAV mathematical model is used for flight simulations. Simulation results validated the effectiveness and performance of the proposed lateral guidance scheme.
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles(UAVs) application with limited actuation. Following the inner(control) and outer(guidance)loop structure, the proposed guidance scheme resides in outer loop and generates reference bank angle commands for the inner control loop. The proposed 1~(st) order SMC algorithm based on nonlinear sliding surface is derived using the kinematic equations for bank-to-turn vehicles. Mathematical proof of existence of sliding mode and actuation boundedness of the closed-loop is also provided. The proposed guidance and control system performance is verified via simulation results for different scenario. A high fidelity nonlinear 6-degrees-offreedom(6-dof) scaled Yak-54 UAV mathematical model is used for flight simulations. Simulation results validated the effectiveness and performance of the proposed lateral guidance scheme.
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles(UAVs) application with limited actuation. Following the inner(control) and outer(guidance)loop structure, the proposed guidance scheme resides in outer loop and generates reference bank angle commands for the inner control loop. The proposed 1~(st) order SMC algorithm based on nonlinear sliding surface is derived using the kinematic equations for bank-to-turn vehicles. Mathematical proof of existence of sliding mode and actuation boundedness of the closed-loop is also provided. The proposed guidance and control system performance is verified via simulation results for different scenario. A high fidelity nonlinear 6-degrees-offreedom(6-dof) scaled Yak-54 UAV mathematical model is used for flight simulations. Simulation results validated the effectiveness and performance of the proposed lateral guidance scheme.
引文
[1]G.Siouris,Missile Guidance and Control Systems.Springer,2004.
[2]R.Samar,S.Ahmed,and F.Aftab,“Lateral control with improved performance for UAVs,”IFAC Proceedings Volumes,vol.40,no.7,pp.37–42,2007.[Online].Available:http://www.sciencedirect.com/science/article/pii/S1474667015332146
[3]R.Samar,S.Ahmed,and M.Nzar,“Lateral guidance&control design for an unmanned aerial vehicle,”in 17thIFAC World Congress Seoul,Korea,vol.17,no.1,2008,pp.4737–4742.
[4]M.Niculescu,“Lateral track control law for Aerosonde UAV,”in39th AIAA Aerospace Sciences Meeting and Exhibit,Reno,NV,USA,January 2001.
[5]S.Park,J.Deyst,and J.How,“A new nonlinear guidance logic for trajectory tracking,”in AIAA Guidance,Navigation,and Control Conference and Exhibit,Providence,Rhode Island,USA,16-19 August2004,pp.941–956.
[6]J.Deyst,J.How,and S.Park,“Lyapunov stability of a nonlinear guidance law for UAVs,”in AIAA Atmospheric Flight Mechanics Conference and Exhibit,San Francisco,CA,USA,15-18 August 2005.
[7]R.Sasongko,J.Sembiring,H.Muhammad,and T.Mulyanto,“Path following system of small unmanned autonomous vehicle for surveillance application,”in 8thAsian Control Conference(ASCC),May2011,pp.1259–1264.
[8]R.Beard,J.Ferrin,and J.Humpherys,“Fixed wing UAV path following in wind with input constraints,”IEEE Transactions on Control Systems Technology,vol.22,no.6,pp.2103–2117,Nov 2014.
[9]R.Beard and T.Mc Lain,Small Unmanned Aircraft:Theory and Practice.Princeton University Press,2012.
[10]D.R.Nelson,D.Blake,B.Timothy,W.Mclain,and R.W.Beard,“Vector field path following for small unmanned air vehicles,”in IEEE Transactions on Control Systems Technology,2006,pp.5788–5794.
[11]S.Griffiths,“Vector-field approach for curved path following for miniature aerial vehicles,”in AIAA Guidance,Navigation,and Control Conference and Exhibit,Keystone,Colorado,21-24 August 2006.
[12]Y.B.Shtessel,I.A.Shkolnikov,and A.Levant,“Smooth second-order sliding modes:Missile guidance application,”Automatica,vol.43,no.8,pp.1470–1476,2007.
[13]T.Yamasaki,S.N.Balakrishnan,and H.Takano,“Separate-channel integrated guidance and autopilot for automatic path-following,”Journal of Guidance,Control,and Dynamics,vol.36,no.1,pp.25–34,Dec 2012.
[14]T.Yamasaki,S.Balakrishnan,and H.Takano,“Sliding mode based integrated guidance and autopilot for chasing UAV with the concept of time-scaled dynamic inversion,”in American Control Conference(ACC),June 2011,pp.1598–1603.
[15]M.Shah,R.Samar,and A.Bhatti,“Guidance of air vehicles:A sliding mode approach,”IEEE Transactions on Control Systems Technology,vol.23,no.1,pp.231–244,Jan 2015.
[16]S.U.Ali,M.Z.Shah,and R.Samar,“Sliding mode based roll control law design for a research UAV and its flight validation,”in2016 13th International Bhurban Conference on Applied Sciences and Technology(IBCAST),Jan 2016,pp.118–125.
[17]M.Polas and A.Fekih,“A multi-gain sliding mode based controller for the pitch angle control of a civil aircraft,”in 42nd Southeastern Symposium on System Theory(SSST),March 2010,pp.96–101.
[18]W.Perruquetti and J.Barbot,Sliding Mode Control In Engineering,ser.Automation and Control Engineering.CRC Press,2002.
[19]B.Bandyopadhyay,F.Deepak,and K.Kim,Sliding Mode Control Using Novel Sliding Surfaces,ser.Lecture Notes in Control and Information Sciences.Springer-Verlag Berlin Heidelberg:Springer,2009.
[2]R.Samar,S.Ahmed,and F.Aftab,“Lateral control with improved performance for UAVs,”IFAC Proceedings Volumes,vol.40,no.7,pp.37–42,2007.[Online].Available:http://www.sciencedirect.com/science/article/pii/S1474667015332146
[3]R.Samar,S.Ahmed,and M.Nzar,“Lateral guidance&control design for an unmanned aerial vehicle,”in 17thIFAC World Congress Seoul,Korea,vol.17,no.1,2008,pp.4737–4742.
[4]M.Niculescu,“Lateral track control law for Aerosonde UAV,”in39th AIAA Aerospace Sciences Meeting and Exhibit,Reno,NV,USA,January 2001.
[5]S.Park,J.Deyst,and J.How,“A new nonlinear guidance logic for trajectory tracking,”in AIAA Guidance,Navigation,and Control Conference and Exhibit,Providence,Rhode Island,USA,16-19 August2004,pp.941–956.
[6]J.Deyst,J.How,and S.Park,“Lyapunov stability of a nonlinear guidance law for UAVs,”in AIAA Atmospheric Flight Mechanics Conference and Exhibit,San Francisco,CA,USA,15-18 August 2005.
[7]R.Sasongko,J.Sembiring,H.Muhammad,and T.Mulyanto,“Path following system of small unmanned autonomous vehicle for surveillance application,”in 8thAsian Control Conference(ASCC),May2011,pp.1259–1264.
[8]R.Beard,J.Ferrin,and J.Humpherys,“Fixed wing UAV path following in wind with input constraints,”IEEE Transactions on Control Systems Technology,vol.22,no.6,pp.2103–2117,Nov 2014.
[9]R.Beard and T.Mc Lain,Small Unmanned Aircraft:Theory and Practice.Princeton University Press,2012.
[10]D.R.Nelson,D.Blake,B.Timothy,W.Mclain,and R.W.Beard,“Vector field path following for small unmanned air vehicles,”in IEEE Transactions on Control Systems Technology,2006,pp.5788–5794.
[11]S.Griffiths,“Vector-field approach for curved path following for miniature aerial vehicles,”in AIAA Guidance,Navigation,and Control Conference and Exhibit,Keystone,Colorado,21-24 August 2006.
[12]Y.B.Shtessel,I.A.Shkolnikov,and A.Levant,“Smooth second-order sliding modes:Missile guidance application,”Automatica,vol.43,no.8,pp.1470–1476,2007.
[13]T.Yamasaki,S.N.Balakrishnan,and H.Takano,“Separate-channel integrated guidance and autopilot for automatic path-following,”Journal of Guidance,Control,and Dynamics,vol.36,no.1,pp.25–34,Dec 2012.
[14]T.Yamasaki,S.Balakrishnan,and H.Takano,“Sliding mode based integrated guidance and autopilot for chasing UAV with the concept of time-scaled dynamic inversion,”in American Control Conference(ACC),June 2011,pp.1598–1603.
[15]M.Shah,R.Samar,and A.Bhatti,“Guidance of air vehicles:A sliding mode approach,”IEEE Transactions on Control Systems Technology,vol.23,no.1,pp.231–244,Jan 2015.
[16]S.U.Ali,M.Z.Shah,and R.Samar,“Sliding mode based roll control law design for a research UAV and its flight validation,”in2016 13th International Bhurban Conference on Applied Sciences and Technology(IBCAST),Jan 2016,pp.118–125.
[17]M.Polas and A.Fekih,“A multi-gain sliding mode based controller for the pitch angle control of a civil aircraft,”in 42nd Southeastern Symposium on System Theory(SSST),March 2010,pp.96–101.
[18]W.Perruquetti and J.Barbot,Sliding Mode Control In Engineering,ser.Automation and Control Engineering.CRC Press,2002.
[19]B.Bandyopadhyay,F.Deepak,and K.Kim,Sliding Mode Control Using Novel Sliding Surfaces,ser.Lecture Notes in Control and Information Sciences.Springer-Verlag Berlin Heidelberg:Springer,2009.