Robust integrated lateral guidance and control of UAVs

Abstract

In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

“…9 The idea of IGC is also applied to fixed wing UAVs. [12][13] A linear time invariant model in the framework of integrated guidance and control is developed for a fixed wing UAV of wingspan 3.8 m to track helical trim trajectories in literature. 12 For a UAV flying along the trim trajectory, the net forces and moments acting on the UAV are zero.…”

“…IGC framework developed for lateral dynamics of a fixed wing UAV assumes decoupled longitudinal dynamics in literature. 13 But the assumptions of decoupled longitudinal and lateral dynamics is not valid for 150 mm class of MAVs. 3,5 To overcome the above-mentioned limitations of existing IGC methodology, a novel IGC framework combining the idea of pure proportional navigation (PPN) with MAV dynamics is derived in this paper.…”

“…IGC framework developed for lateral dynamics of a fixed wing UAV assumes decoupled longitudinal dynamics in literature. 13 But the assumptions of decoupled longitudinal and lateral dynamics is not valid for 150 mm class of MAVs. 3,5…”

“…Figure13. Miss distance and q angle plots for rectangular path following: without wind (solid blue) and with wind (dotted black).…”

Autonomous Flight of Unmanned Aerial Vehicle (UAV) by using Linear Quadratic Regulator (LQR)

“…Modeling and simulation for the yaw-54 using a 6-DOF model with flight test validation has been presented by Leong, H.I [6]. Robust integrated lateral guidance and control system has designed by Muhammad Zeeshan Babar [7]. …”