Three dimensional moving path following for fixed-wing unmanned aerial vehicles

A unified approach to fixed-wing aircraft path following guidance and control

“…Furthermore, if (h, z) does not converge to the unstable point (−h * , 0), then (h, z) converges to (h * , 0). In this latter case, if h * is given by (24)- (25), then the path following errorp converges to zero and h converges to the desired direction, i.e. sign vu u.…”

“…A practical application would, for instance, consist in having an aircraft fly in circles over a moving ground target. This problem is also referred to as Moving Path Following (MPF) in [10] [25]. We leave the interested reader to verify that this extension just involves the modification of equations (13), (14), (15) according tȯ…”

“…Local exponential stability) Given the model(7) of aerodynamic forces, consider the control system composed of the kinematic equations (1)-(2) and the Newton dynamic equation(8), augmented with the integrators (23) and (28). In the case of zero wind velocity and v * constant ( = 0), if the assumptions A1-A2 are satisfied and h * is a desired heading vector defined by (24)-(25), then the control inputs (T, ω) defined by(19),(21),(23) and (35) locally exponentially stabilize the equilibrium (p, v, B, z, I ev ) = (q, sign vu v * u,B, 0, 0).…”

Robust Cooperative Moving Path Following Control for Marine Robotic Vehicles

“…Further, it is observed that the MPF problem retains the advantages of the classical path following schemes (Aguiar et al, 2005 ) such as faster convergence of the robot to the moving path, while allowing the target reference frame to move freely. The works in Oliveira and Encarnação ( 2013 ) and Oliveira et al ( 2016 ) introduced the MPF control problem for tracking of ground targets using Unmanned Aerial Vehicles (UAVs) and later on, Oliveira et al ( 2017 ) extended the solution to the 3D case. The proposed approach was suitable for robotic vehicles requiring a minimum positive forward speed, such as certain types of AUVs.…”

Moving Path Following Control of Constrained Underactuated Vehicles: A Nonlinear Model Predictive Control Approach

“…An interesting motion control problem arises when the frame of reference of the geometric path itself is moving or varies with respect to time. This leads to a generalized Path Following motion control problem termed as the Moving Path Following (MPF) problem introduced in [3][4][5]. The Moving Path Following problem arises in applications such as tracking a moving target [6,7], autonomous landing of Unmanned Aerial Vehicle (UAV) or docking of an Autonomous Underwater Vehicle (AUV) on a moving platform [8], and target estimation and tracking problems where the robot tracks a moving target while performing observability based maneuvers in order to estimate the target position [9,10].…”