Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by...

Area of Science:

• Robotics
• Control Systems Engineering
• Aerospace Engineering

Background:

• Precise position tracking is crucial for unmanned aerial vehicle (UAV) formation flights using leader-following schemes.
• Nonholonomic constraints in UAVs, limiting turning capabilities, introduce stability challenges and position errors.
• Existing asymmetrical artificial potential field (AAPF) methods for UAVs can result in steady-state errors and overshoots.

Purpose of the Study:

• To enhance the stability and accuracy of position tracking for nonholonomic UAVs.
• To mitigate steady-state errors and overshoot issues in UAV formation control.
• To develop a robust control strategy for leader-following UAV applications.

Main Methods:

• Implementation of a nonlinear proportional-integral-derivative (PID) control strategy.
• Integration of asymmetrical artificial potential field (AAPF) with integral and derivative control terms.
• Numerical simulations to validate the control loop's performance and stability.

Main Results:

• The proposed nonlinear PID controller effectively minimizes tracking error overshoots.
• Steady-state errors in position tracking were significantly reduced.
• The control strategy demonstrated asymptotical stability for nonholonomic UAVs.

Conclusions:

• Combining AAPF with integral and derivative terms creates an effective nonlinear PID controller for UAVs.
• This approach enhances the reliability and precision of UAV formation flight control.
• The developed control system satisfies conditions for asymptotical stability, improving UAV navigation.