Advanced Pure Pursuit Guidance Via Sliding Mode Approach for Chase UAV
Abstract
This paper introduces an advanced pure pursuit guidance method for chase UAV. The advanced pure pursuit guidance method employs a sliding mode approach using a proper Lyapunov function, which is based on a three-dimensional expression related to a line of sight (LOS) angle. In order to apply the sliding mode approach to the pure pursuit guidance, a simple surface vector and a derivation scheme from the sliding approach solution are also introduced. The guidance and control system employs the advanced pure pursuit guidance to determine the UAV's commanded bank angle and angle of attack, and a two-time scaled dynamic inversion technique to control the attitude, which draws on the UAV's high maneuverability and chasing capability. Copyright © 2009 by Takeshi Yamasaki and S.N. Balakrishnan.
Recommended Citation
T. Yamasaki et al., "Advanced Pure Pursuit Guidance Via Sliding Mode Approach for Chase UAV," Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit (2009, Chicago, IL), American Institute of Aeronautics and Astronautics (AIAA), Aug 2009.
The definitive version is available at https://doi.org/10.2514/6.2009-6298
Meeting Name
AIAA Guidance, Navigation, and Control Conference and Exhibit (2009: Aug. 10-13, Chicago, IL)
Department(s)
Mechanical and Aerospace Engineering
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2009 American Institute of Aeronautics and Astronautics (AIAA), All rights reserved.
Publication Date
13 Aug 2009
