Aiming at the 3D curved path tracking problem for fixed-wing unmanned vehicle (UAV) collision avoidance in low altitude environments, a path tracking control method is proposed based on the strategy of separated guidance-control design. First, considering the characteristics of six degree of freedom (6-DOF) motion equation of UAV including strong nonlinearity, tight coupling and nonaffinity, the affine transformation is performed on the UAV model for control design. Second, the path tracking control system is divided into the inner control loop and the outer guidance loop. Based on back-stepping linear active disturbance rejection control (BLADRC), the control loop is further divided into the angular rate loop, the angle loop and the ground speed loop, thus, corresponding controllers are designed respectively. For the design of guidance loop, acceleration commands of the UAV in vertical plane and horizontal plane are obtained by the L1 guidance algorithm, and corresponding angle commands are given by command transformation. Finally, the simulation results show that the UAV can track the desired path determined by the collision avoidance decision method accurately, thus the feasibility and the effectiveness of the proposed path tracking control method is verified.
3D Curved Path Tracking Control for UAV Collision Avoidance in Low Altitude Environments
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 157 ; 1590-1599
2022-03-18
10 pages
Article/Chapter (Book)
Electronic Resource
English
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