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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2017

Autores

Oliveira, T (Autor) Outra; Aguiar, AP (Autor) FEUP; Encarnação, P (Autor) Outra

Ata de Conferência Internacional

Título: Proceedings - IEEE International Conference on Robotics and Automation

Páginas: 2710-2716

2017 IEEE International Conference on Robotics and Automation, ICRA 2017

29 May 2017 through 3 June 2017

Indexação

Scopus - 9 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica