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Assuming that the UAV is flying at a constant altitude and airspeed(V), held
constant by the control of the longitudinal dynamics. The following is a simple first
order model of the navigational dynamics to be used to study the path following
behavior of the UAV.
x = VcosΨ + Wx
y = VsinΨ + Wy
Heading (Ψ) of the UAV will not be controlled directly in this method. Instead, we
shall focus on the ground track heading, ( χ ).
x = VcosΨ + Wx = Vx + Wx = Sx
y = VsinΨ + Wy = Vy + Wy = Sy
where S = Groundspeed
V = Airspeed
W = Wind Speed
Or,as seen in figure
x = S cos χ
y = S sin χ
The key difference from the DTS is that the equations of motion are expressed in
terms of groundspeed and ground track heading and are independent of the wind
velocity.This dramatically improves performance in situations where wind is a
factor, which is true in the case of a small fixed wing UAV.
Secondly, since we are not generating a trajectory, time is not taken into account
thereby significantly reducing computational complexity.
It is assumed that the UAV is equipped with an autopilot that implements a ground
track heading hold loop and that the resulting dynamics are represented by the
following first order system.
χ = α( χc – χ )
A complete list of the variables used for the straight line algorithm is as follows.
Variables Description
The parameters (τ, k and χ e ) can be tuned based on the capabilities of the UAV to
achieve the desired performance.
The following algorithm maneuvers the UAV to follow straight line paths with
asymptotically decaying error provided it can generate enough thrust to yield a
positive ground speed. Lyapunov arguments are used to justify these claims.
Note : MAV- Micro Aerial Vehicle
** Notes
1. Before Step 2, current position and heading is received as input , z(x,y) and
χ.
2. In step 4, ρ = sign( axby – aybx )