Abstract
This study focuses on integrated guidance and control for a chasing UAV against a maneuvering target. a sliding mode approach is selected to develop the integrated guidance and control using a full model of nonlinear, rigid body, 6 Degree-Of-Freedom equations of motion including nonlinear aerodynamics for the target-following capability and maneuverability enhancement against uncertain target maneuvers. Intermediate control variables for the integrated guidance and control system are carefully selected and approximated time derivatives of a sliding surface are applied such that a sliding surface structure is simple and sufficient to propagate the actuator input to the sliding surface in order to make the design synthesis simple. the potential of the proposed method is demonstrated and discussed with some simulation results, comparing its performance with a system where the guidance law and the controller are designed independently.
Recommended Citation
T. Yamasaki and S. N. Balakrishnan, "Guidance and Control for Chase UAV Via Sliding Mode Approach," IFAC Proceedings Volumes (IFAC-PapersOnline), vol. 18, no. PART 1, pp. 57 - 62, Elsevier, Jan 2010.
The definitive version is available at https://doi.org/10.3182/20100906-5-jp-2022.00011
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Chase; Integrated guidance and control; Pure pursuit guidance; Sliding mode; UAV
International Standard Book Number (ISBN)
978-390266196-8
International Standard Serial Number (ISSN)
1474-6670
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Elsevier, All rights reserved.
Publication Date
01 Jan 2010
