Adaptive line-of-sight method for 3D path following of UAVs

LI Hui; LONG Teng; SUN Jingliang; XU Guangtong

doi:10.7527/S1000-6893.2021.26105

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2022 , Vol. 43 >Issue 9: 326105 - 326105

DOI: https://doi.org/10.7527/S1000-6893.2021.26105

Electronics and Electrical Engineering and Control

Adaptive line-of-sight method for 3D path following of UAVs

LI Hui ,
LONG Teng ,
SUN Jingliang ,
XU Guangtong

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1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China;
3. Department of Precision Instrument, Tsinghua University, Beijing 100084, China

Received date: 2021-07-14

Revised date: 2021-08-04

Online published: 2021-10-21

Supported by

National Natural Science Foundation of China (51675047, 62003036); China Postdoctoral Science Foundation (2019TQ0037)

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Abstract

During the process of 3D path following of Unmanned Aerial Vehicles (UAVs), there exist the issues of big following error and slow rate of convergence when the reference path is switched. An Adaptive-Line-of-Sight (ALOS)-based following control method is proposed. To improve the accuracy of path following when the reference path is switched, an adaptive acceptance circle strategy is customized by setting the different acceptance circles automatically according to the angle between two reference path segments. An adaptive lookahead distance strategy based on the feedback of horizontal and vertical following errors is proposed by automatically setting the target direction in real time according to the following errors, so as to guide the UAV converging to the reference path quickly and steadily. A state feedback following control law based on the ALOS method, in which is introduced the adaptive acceptance circle strategy and adaptive lookahead distance strategy, is designed to guarantee that the UAV will track the reference path stably. The simulation results illustrate that the method proposed can obtain smaller following error and faster rate of convergence compared to the classic line-of-sight methods based on fixed acceptance circle and look ahead distance. Furthermore, a comparison with the nonlinear guidance law demonstrates better following accuracy and convergence speed of the proposed method.

Key words： Unmanned Aerial Vehicle (UAV); three-dimensional path following; Line-of-Sight (LOS); adaptive acceptance circle strategy; adaptive lookahead distance strategy

Cite this article

LI Hui , LONG Teng , SUN Jingliang , XU Guangtong . Adaptive line-of-sight method for 3D path following of UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022 , 43(9) : 326105 -326105 . DOI: 10.7527/S1000-6893.2021.26105

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