Constrained Moving Path Following Control for UAV With Robust Control Barrier Function
文献类型：期刊论文
| 作者 | Zewei Zheng; Jiazhe Li; Zhiyuan Guan; Zongyu Zuo |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:7页码:1557-1570 |
| 关键词 | Moving path following (MPF) robust control barrier function safety margin shipboard landing unmanned aerial vehicle (UAV) |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123573 |
| 英文摘要 | This paper studies the moving path following (MPF) problem for fixed-wing unmanned aerial vehicle (UAV) under output constraints and wind disturbances. The vehicle is required to converge to a reference path moving with respect to the inertial frame, while the path following error is not expected to violate the predefined boundaries. Differently from existing moving path following guidance laws, the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem. A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers. To guarantee that the path following error will not exceed the prescribed bounds, a robust control barrier function is developed and incorporated into controller design with quadratic program based framework. The proposed method does not require the initial position of the UAV to be within predefined boundaries. And the safety margin concept makes error-constraint be respected even if in a noisy environment. The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-the-loop (HIL) experiments. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51993]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Zewei Zheng,Jiazhe Li,Zhiyuan Guan,et al. Constrained Moving Path Following Control for UAV With Robust Control Barrier Function[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(7):1557-1570. |
| APA | Zewei Zheng,Jiazhe Li,Zhiyuan Guan,&Zongyu Zuo.(2023).Constrained Moving Path Following Control for UAV With Robust Control Barrier Function.IEEE/CAA Journal of Automatica Sinica,10(7),1557-1570. |
| MLA | Zewei Zheng,et al."Constrained Moving Path Following Control for UAV With Robust Control Barrier Function".IEEE/CAA Journal of Automatica Sinica 10.7(2023):1557-1570. |
入库方式： OAI收割
来源：自动化研究所
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