This paper concerns the target circumnavigation of fixed-wing unmanned aerial vehicles (UAVs) in a three-dimensional space. A sliding-mode control law for the flight path angle and a dynamic feedback control law for the roll angle is derived. The proposed control scheme enables the UAV, under any initial condition, to reach a desired height in a finite time and maintain a prescribed horizontal standoff distance from the target. A modified controller is then developed to overcome the discontinuity of control inputs. The stability of the closed-loop system is rigorously justified. The control algorithms have low computational complexity and are easy to implement, as they use only the distance from the UAV to the target and from the UAV to the ground. Numerical simulations verify the effectiveness of the control method.
Circumnavigation Control of Fixed-Wing UAVs Using Distance Measurements
Lect. Notes Electrical Eng.
Chinese Intelligent Systems Conference ; 2023 ; Ningbo, China October 14, 2023 - October 15, 2023
2023-10-08
11 pages
Article/Chapter (Book)
Electronic Resource
English
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