Академический Документы
Профессиональный Документы
Культура Документы
1. INTRODUCTION
Two approaches are used for trajectory tracking of UAVs. In
first approach, UAV guidance and control problem is
separated into an outer guidance and an inner control loop.
Based on lateral track error and heading angle, outer
guidance loop generates a desired reference bank (roll) angle
and inner control law generates command to control surface
to follow the desired reference bank angle. In the second
approach, guidance and control laws are designed together in
a single framework.
In most applications, the separate inner and outer loop
approach is commonly used since it is simpler and wellestablished design methods are available for inner loop
vehicle control. For outer guidance loop, different approaches
have been used in the past. Linear proportional and derivative
(PD) control (Siouris, 2004; Pappoullias, 1994) has been used
in many UAV applications. But during curved path following
in the present of a persistent disturbance (e.g. wind),
performance of PD control degrades. A nonlinear scheme has
been given by (Park, 2004; Park, 2007) showing improved
performance than PD scheme. But in the case of large track
error, control output of this nonlinear scheme saturates and
there is no stability proof during control saturation. A
conventional linear proportional and derivative lateral control
with some non-linear modifications has been given by
(Samar, 2007) which enhance the tracking performance. But
the control proposed by (Samar, 2007) is an ad-hoc solution
and as such no stability proof exists. In literature, other
different approaches have been proposed by (Nelson, 2006;
Regina 2009; Jia, 2010; Shtessel, 2009).
Copyright by the
International Federation of Automatic Control (IFAC)
11121
heading error angle in the case of large track error, a nonlinear sliding surface is proposed here.
Current Position & Heading angle
Aileron
Control
Rudder
cos = ,
sin =
Lateral Dynamcis
(1)
Yaw rate
tan =
roll angle
(2)
tan =
(3)
2. PROBLEM DEFINITION
Notation of different variables used in this paper is same as
used in (Siouris 2004; Samar, 2007). Here, is the cross
track error, is the velocity heading, is the reference
heading and = (Fig. 2). Note that magnitude of
should be less than 90 degrees.
(4)
(5)
tan =
2.1 Assumptions
For way point tracking during straight path = 0, while
during circular path is non-zero but may be small
depending on the mission. In this paper, is assumed small
and neglected here.
While designing this outer guidance loop it is assumed that a
fast inner control loop is already designed. As the inner
control loop is fast enough (at least 5 times), so we assumed
here that the actual roll angle () is approximately equal to
the desired/reference roll angle ( ).
(6)
(7)
tan
(8)
11122
(10)
1 2
1 2
y + 2E =
y + tan1
2
2
= sin tan1
(11)
2
tan1 sin tan1
1 + 2 2
12
2
1.5
y
1 + 2 y 2
(13)
0.8
0.6
0.5
0.4
0
E in radians
E in radians
-0.5
-1
-1.5
-2
-2000
0.2
0
-0.2
-0.4
-1500
-1000
-500
500
1000
1500
2000
-0.6
-0.8
-2000
-1000
-500
500
1000
1500
2000
-1500
= 0 implies
0=
(9)
where and are scalars and later we will show that for
stability of sliding surface > 0. Performance in case of
small track error can be changed by changing parameter
while another parameter can be used to keep the magnitude
of less than 90 degrees ( 1). A graph of above
sliding surface is shown in Fig. 5 for some particular and .
tan(_ )
+
sin
1 + 2 y 2
(14)
11123
_ = tan1
sin
1 + 2 2
(15)
tan +
sin
1 + 2 y 2
(16)
less 30 degrees ( _ ).
6
sin tan
1 + 2 2
6
Let us assume
tan =
(17)
is negative definite if
>
1+ 2 y 2
(18)
sin
2
sin
1 + 2 y 2
(24)
5. SIMULATION RESULTS
sin( tan1 ()) tan
1 + 2 2
6 2
or
>
(23)
= () +
sin
1 + 2 y 2
(22)
(19)
by ()
, where is a small scalar positive
+
-4
= tan1
where >
1.5
x 10
or
= tan1
LHS
RHS
(20)
sin
1 + 2 2
0.5
(21)
500
1000
Lateral Track Error [m]
1500
11124
2000
3000
2000
1000
0
40
60
80
100
Time [sec]
120
140
160
6. CONCLUSIONS
E [deg]
20
0
-20
-40
40
60
80
0.5
100
Time [sec]
120
140
160
E [rad]
Sliding Surface
UAV Phase Portrait
0
X: 1544
Y: -0.435
Z: 76.72
-0.5
-1000
-500
500
1000
1500
Cross Track Error [m]
2000
2500
40
20
0
X: 76.72
Y: -8.212
-20
-40
40
60
80
100
Time [sec]
120
140
160
11125
2000
1500
1000
500
0
40
60
80
100
Time [sec]
120
140
160
60
80
100
Time [sec]
120
140
160
E [deg]
20
-20
-40
40
0.5
0
X: 1494
Y: -0.4341
Z: 77.5
-0.5
-1000
25.65
-500
40
Track( Lat/Long )
500
1000
1500
Cross Track Error [m]
2000
2500
25.6
lat (deg)
E [rad]
Sliding Surface
UAV Phase Portrait
20
0
25.55
25.5
25.45
X: 77.5
Y: -6.472
25.4
63.4
-20
-40
40
60
80
100
Time [sec]
120
140
2500
160
63.6
63.7
long (deg)
63.8
60
40
20
0
-20
1300
1400
1500
1600
Time [sec]
1700
1800
1400
1500
1600
Time [sec]
1700
1800
1400
1500
1600
Time [sec]
1700
1800
E [deg]
1
0
-1
-2
1300
Roll Reference [deg]
63.5
10
0
-10
-20
-30
1300
11126