Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following
This work presents a robust constrained path-following control scheme for the unmanned aerial vehicle (UAV) under wind disturbances. Through appointing the projection from the UAV to the path, the Serret–Frenet frame is introduced to reduce the complexity of the path-following problem. Specifically,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/2/90 |
| _version_ | 1797621420089409536 |
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| author | Yaping Song Kenan Yong Xiaolong Wang |
| author_facet | Yaping Song Kenan Yong Xiaolong Wang |
| author_sort | Yaping Song |
| collection | DOAJ |
| description | This work presents a robust constrained path-following control scheme for the unmanned aerial vehicle (UAV) under wind disturbances. Through appointing the projection from the UAV to the path, the Serret–Frenet frame is introduced to reduce the complexity of the path-following problem. Specifically, the disturbance interval observer is employed to generate the interval of the wind disturbances. Then, the path-following control design is presented based on the dynamic surface control technique, and the auxiliary system is adopted to deal with the command limitation during the design process. Accordingly, the stability of the closed-loop system is analyzed. The effectiveness of the developed control scheme is demonstrated using numerical simulations. |
| first_indexed | 2024-03-11T08:55:40Z |
| format | Article |
| id | doaj.art-23697cdf105b4971be40b9e61a3a7663 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T08:55:40Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-23697cdf105b4971be40b9e61a3a76632023-11-16T20:06:26ZengMDPI AGDrones2504-446X2023-01-01729010.3390/drones7020090Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path FollowingYaping Song0Kenan Yong1Xiaolong Wang2College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaThis work presents a robust constrained path-following control scheme for the unmanned aerial vehicle (UAV) under wind disturbances. Through appointing the projection from the UAV to the path, the Serret–Frenet frame is introduced to reduce the complexity of the path-following problem. Specifically, the disturbance interval observer is employed to generate the interval of the wind disturbances. Then, the path-following control design is presented based on the dynamic surface control technique, and the auxiliary system is adopted to deal with the command limitation during the design process. Accordingly, the stability of the closed-loop system is analyzed. The effectiveness of the developed control scheme is demonstrated using numerical simulations.https://www.mdpi.com/2504-446X/7/2/90path followingSerret–Frenet framedisturbance observerdynamic surface control |
| spellingShingle | Yaping Song Kenan Yong Xiaolong Wang Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following Drones path following Serret–Frenet frame disturbance observer dynamic surface control |
| title | Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following |
| title_full | Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following |
| title_fullStr | Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following |
| title_full_unstemmed | Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following |
| title_short | Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following |
| title_sort | disturbance interval observer based robust constrained control for unmanned aerial vehicle path following |
| topic | path following Serret–Frenet frame disturbance observer dynamic surface control |
| url | https://www.mdpi.com/2504-446X/7/2/90 |
| work_keys_str_mv | AT yapingsong disturbanceintervalobserverbasedrobustconstrainedcontrolforunmannedaerialvehiclepathfollowing AT kenanyong disturbanceintervalobserverbasedrobustconstrainedcontrolforunmannedaerialvehiclepathfollowing AT xiaolongwang disturbanceintervalobserverbasedrobustconstrainedcontrolforunmannedaerialvehiclepathfollowing |