In this report a previously developed method for guiding a UAV with controlled speed along a trajectory in the 3-dimensional space is presented. Since the speed is also controlled, the trajectory is called a 4D-trajectory. The different steps of the method leading to the final implementation, shown to work in simulation, are displayed. The method involves designing a stabilizing controller. This controller is designed such that good robustness margins are achieved. By means on computer simulation it is shown that the total algorithm, resulting in the 4D-trajectory tracking of the UAV, is insensitive with respect to wind gust, GPS noise, deviations in mass and inertial momentum. The implemented algorithm has been evaluated in flight tests at four occasions. For this purpose a UAV at Naval Postgraduate School in Monterey, CA, USA, has been used. The three first flight tests failed. The fourth test has not yet been completely evaluated, but it was not flawless.
Styrning av UAV Laengs 4D-Trajektoria (Guidance of UAV along 4D-Trajectory)
2002
58 pages
Report
No indication
English
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