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Addressing Unmodelled Path-Following Dynamics via Adaptive Vector Field: a UAV Test Case

Fari, Stefano and Wang, Ximan and Roy, Spandan and Baldi, Simone (2019) Addressing Unmodelled Path-Following Dynamics via Adaptive Vector Field: a UAV Test Case. IEEE Transactions on Aerospace and Electronic Systems. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TAES.2019.2925487 ISSN 0018-9251 (In Press)

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Official URL: https://ieeexplore.ieee.org/document/8747462

Abstract

The actual performance of model-based path-following methods for Unmanned Aerial Vehicles (UAVs) show considerable dependence on the wind knowledge and on the fidelity of the dynamic model used for design. This work analyzes and demonstrates the performance of an adaptive Vector Field (VF) control law which can compensate for the lack of knowledge of the wind vector and for the presence of unmodelled course angle dynamics. Extensive simulation experiments, calibrated on a commercial fixed-wing UAV and proven to be realistic, show that the new VF method can better cope with uncertainties than its standard version. In fact, while the standard VF approach works perfectly for ideal first-order course angle dynamics (and perfect knowledge of the wind vector), its performance degrades in the presence of unknown wind or unmodelled course angle dynamics. On the other hand, the estimation mechanism of the proposed adaptive VF effectively compensates for wind uncertainty and unmodelled dynamics, sensibly reducing the path-following error as compared to the standard VF.

Item URL in elib:https://elib.dlr.de/129082/
Document Type:Article
Title:Addressing Unmodelled Path-Following Dynamics via Adaptive Vector Field: a UAV Test Case
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Fari, StefanoStefano.Fari (at) dlr.dehttps://orcid.org/0000-0001-5595-6905
Wang, XimanUNSPECIFIEDUNSPECIFIED
Roy, SpandanUNSPECIFIEDhttps://orcid.org/0000-0002-2238-9542
Baldi, Simones.baldi (at) tudelft.nlhttps://orcid.org/0000-0001-9752-8925
Date:27 June 2019
Journal or Publication Title:IEEE Transactions on Aerospace and Electronic Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/TAES.2019.2925487
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:0018-9251
Status:In Press
Keywords:Aerodynamics dynamics, Unmanned aerial vehicles, Adaptation Control Adaptive Vector Field , fixed-wing UAV, path-following, unmodelled course angle dynamics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:other
DLR - Research area:Raumfahrt
DLR - Program:R - no assignment
DLR - Research theme (Project):R - no assignment
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Fari, Stefano
Deposited On:13 Sep 2019 12:16
Last Modified:13 Sep 2019 12:16

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