Unscented guidance for waypoint navigation of a fixed-wing UAV
Aerodynamic uncertainty can lead to large variations in the dynamics of fixed-wing unmanned aerial vehicles. Thus, waypoint navigation is normally done using a feedback controller. In some environments navigation can be done in the open-loop provided that the control is desensitized to the uncertain...
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Published in | 2016 American Control Conference (ACC) pp. 473 - 478 |
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Main Authors | , , |
Format | Conference Proceeding Journal Article |
Language | English |
Published |
American Automatic Control Council (AACC)
01.07.2016
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Subjects | |
Online Access | Get full text |
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Summary: | Aerodynamic uncertainty can lead to large variations in the dynamics of fixed-wing unmanned aerial vehicles. Thus, waypoint navigation is normally done using a feedback controller. In some environments navigation can be done in the open-loop provided that the control is desensitized to the uncertainty. In this paper, unscented optimal control is used to design such open-loop controls for guiding a UAV between waypoints. The unscented optimal control problem considers the effects of parametric uncertainty and is formulated as a deterministic optimal control problem so that it can be solved computationally. The results show an improvement of 30% in the mean terminal error and a 35% reduction in the standard deviation for a canonical turn maneuver. A second unscented problem that includes an additional control over the thrust provides an improvement of 50% in the mean error and a 60% reduction in the standard deviation. The unscented guidance provides a new framework for waypoint navigation and could prove to be a promising approach for non ideal environments. |
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Bibliography: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Conference-1 ObjectType-Feature-3 content type line 23 SourceType-Conference Papers & Proceedings-2 |
ISSN: | 2378-5861 |
DOI: | 10.1109/ACC.2016.7524959 |