Adaptive path following control for miniature unmanned aerial vehicle confined to three-dimensional Dubins path: From take-off to landing
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View abstract on PubMed
Summary
This summary is machine-generated.This study presents a new control method for miniature fixed-wing unmanned aerial vehicles (MAVs) to accurately follow 3D Dubins paths despite model uncertainties and wind disturbances. The approach ensures reliable navigation for MAVs in complex flight conditions.
Area Of Science
- Robotics and Control Systems
- Aerospace Engineering
- Autonomous Navigation
Background
- Controlling miniature fixed-wing unmanned aerial vehicles (MAVs) presents challenges due to model uncertainties and external environmental factors like wind.
- Precise path following for MAVs is crucial for various applications, including surveillance, mapping, and delivery.
- Existing control methods often struggle with combined uncertainties and dynamic disturbances in three-dimensional space.
Purpose Of The Study
- To develop a robust control methodology for MAVs to follow a predetermined 3D Dubins path.
- To address challenges posed by model uncertainties and external wind disturbances during MAV flight.
- To integrate guidance and control layers for comprehensive MAV navigation.
Main Methods
- A multilayered control structure combining guidance and control functions.
- A modified vector-field-based guidance approach for 3D Dubins path tracking, including takeoff, cruise, and landing phases.
- An adaptive sliding mode controller designed to manage wind disturbances and system uncertainties.
Main Results
- Demonstrated the ability of the proposed method to guide MAVs along 3D Dubins paths effectively.
- Validated the controller's performance in mitigating the effects of wind disturbances and model uncertainties.
- Successful application shown through both simulated scenarios and real-world in-flight trials.
Conclusions
- The proposed multilayered control strategy is applicable and efficient for MAVs navigating 3D Dubins paths.
- The adaptive sliding mode controller effectively handles uncertainties and external disturbances.
- The methodology offers a reliable solution for autonomous MAV navigation in challenging conditions.
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