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Author Sarras, I. ♦ Siguerdidjane, H.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Kinematics ♦ Wind speed ♦ Vectors ♦ Vehicles ♦ Trajectory ♦ Convergence ♦ Observers
Abstract We examine the path-following guidance of a UAV in three-dimensions and in the presence of quasi-constant but unknown wind disturbances. The analysis and control design are based only on a kinematic model. A first contribution is an alternative description of the dynamics that simplifies the design. A second contribution is the derivation of a guidance law that ensures the global asymptotic convergence to the desired path in spite of wind perturbations. To achieve our objective a simple estimator based on the Immersion and Invariance (I&I) approach is used for the estimation of the wind velocities and tools from robustness analysis for the stability proof.
Description Author affiliation: Autom. Control Dept., SUPELEC, Gif-sur-Yvette, France (Sarras, I.; Siguerdidjane, H.)
ISBN 9781479974092
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-10-08
Publisher Place France
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 481.28 kB
Page Count 6
Starting Page 820
Ending Page 825

Source: IEEE Xplore Digital Library