入力制約を考慮した三次元非線形経路追従誘導
Three-dimensional Nonlinear Path-following Guidance with Bounded Input Constraints
UAVが滑らかな三次元曲線経路を、入力飽和の制約下でも有限時間で追従できる非線形誘導則を提案した論文。
著者: Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
分類: eess.SY, cs.RO, cs.SY, math.DS, math.OC
原文アブストラクト
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following problems, subjected to bounded inputs. Specifically, we propose a novel nonlinear path-following guidance law for a UAV that enables it to follow any smooth curvilinear path in three dimensions while accounting for the bounded control authority in the design. The proposed solution offers a general treatment of the path-following problem by removing the dependency on the path's geometry, which makes it applicable to paths with varying levels of complexity and smooth curvatures. Additionally, the proposed strategy draws inspiration from the pursuit guidance approach, which is known for its simplicity and ease of implementation. Theoretical analysis guarantees that the UAV converges to its desired path within a fixed time and remains on it irrespective of its initial configuration with respect to the path. Finally, the simulations demonstrate the merits and effectiveness of the proposed guidance strategy through a wide range of engagement scenarios, showcasing the UAV's ability to follow diverse curvilinear paths accurately.
