Three dimensional moving path following for fixed-wing unmanned aerial vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Oliveira, T (Author) Other; Aguiar, AP (Author) FEUP; Encarnação, P (Author) Other

Conference proceedings International

Title: Proceedings - IEEE International Conference on Robotics and Automation

Pages: 2710-2716

2017 IEEE International Conference on Robotics and Automation, ICRA 2017

29 May 2017 through 3 June 2017

Indexing

Scopus - 9 Citations

Other information

Authenticus ID: P-00M-XT5

DOI: 10.1109/icra.2017.7989315

Abstract (EN): Moving Path Following (MPF) control laws allows an autonomous vehicle to converge to and follow a path that is moving with respect to an inertial frame. This paper formally extends the MPF methods present in the literature to the case of three dimensional paths that can be moving with time-varying linear and angular velocities with respect to an inertial frame. A 3D MPF error space and a MPF Lyapunov-based control law is derived at kinematic level for a fixed-wing unmanned aerial vehicle. Formal convergence proofs and validation using flight test results are presented, demonstrating the effectiveness of the proposed method. © 2017 IEEE.

Language: English

Type (Professor's evaluation): Scientific