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Adaptive Vector Field Guidance Without a Priori Knowledge of Course Dynamics and Wind

Wang, Ximan and Roy, Spandan and Fari, Stefano and Baldi, Simone (2022) Adaptive Vector Field Guidance Without a Priori Knowledge of Course Dynamics and Wind. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TMECH.2022.3160480. ISSN 1083-4435.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9756038


The high maneuverability of fixed-wing unmanned aerial vehicles (UAVs) exposes these systems to several dynamical and parametric uncertainties, severely affecting the fidelity of modeling and causing limited guidance autonomy. This article shows enhanced autonomy via adaptation mechanisms embedded in the guidance law: a vector-field method is proposed that does not require a priori knowledge of the UAV course time constant, coupling effects, and wind amplitude/direction. Stability and performance are assessed using the Lyapunov theory. The method is tested on software-in-the loop and hardware-in-the-loop UAV platforms, showing that the proposed guidance law outperforms state-of-the-art guidance controllers and standard vector-field approaches in the presence of significant uncertainty.

Item URL in elib:https://elib.dlr.de/186572/
Document Type:Article
Title:Adaptive Vector Field Guidance Without a Priori Knowledge of Course Dynamics and Wind
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Roy, SpandanInternational Institute of Information Technology Hyderabadhttps://orcid.org/0000-0002-2238-9542UNSPECIFIED
Fari, StefanoUNSPECIFIEDhttps://orcid.org/0000-0001-5595-6905UNSPECIFIED
Baldi, SimoneUNSPECIFIEDhttps://orcid.org/0000-0001-9752-8925UNSPECIFIED
Date:12 April 2022
Journal or Publication Title:IEEE-ASME Transactions on Mechatronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Uncertainty, Navigation, Adaptive systems, Aerodynamics, Standards, Orbits, Autonomous aerial vehicles
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:24 May 2022 08:15
Last Modified:12 Mar 2024 08:43

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