Abstract
An integrated guidance and autopilot scheme for a path-following uninhabited aerial vehicle is presented in this study. A fixed-wing aircraft usually performs a bank-to-turn maneuver to change its flight direction. The novel approach presented here, however, assumes that each of the three channels of the integrated guidance and autopilot can be independently designed. This concept makes the design process simple. A virtual target moving on the prespecified path for the uninhabited aerial vehicle is introduced to facilitate the algorithm development. A first-/ second order sliding structure with a second order sliding mode and a high-order sliding mode differentiator for the estimation of the uncertain sliding surfaces are selected to develop the uninhabited aerial vehicle's integrated guidance and autopilot scheme. Stability analysis and error bounds due to measurement errors and model uncertainties are provided. The potential of the proposed method is demonstrated through a path-following application of an uninhabited aerial vehicle on a difficult helical ascent flight under wind turbulence. Copyright © 2012 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
Recommended Citation
T. Yamasaki et al., "Separate-channel Integrated Guidance and Autopilot for Automatic Path-following," Journal of Guidance, Control, and Dynamics, vol. 36, no. 1, pp. 25 - 34, American Institute of Aeronautics and Astronautics, Jan 2013.
The definitive version is available at https://doi.org/10.2514/1.58259
Department(s)
Mechanical and Aerospace Engineering
Publication Status
Full Access
International Standard Serial Number (ISSN)
1533-3884; 0731-5090
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 American Institute of Aeronautics and Astronautics, All rights reserved.
Publication Date
01 Jan 2013
