Adaptive path following control for miniature unmanned aerial vehicle confined to three-dimensional Dubins path: From take-off to landing

Weinan Wu, Jie Xu, Chunlin Gong, Naigang Cui

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

This study proposes a method for resolving the challenge of controlling miniature fixed-wing unmanned aerial vehicles (MAVs) along a predetermined three-dimensional (3D) Dubins path while using models with uncertainty and when experiencing external wind disturbances. We provide a multilayered structure that incorporates both guiding and control at the same time. In the guidance layer, a modified vector-field-based approach is presented to enable the MAV to follow a 3D Dubins path, including the takeoff, cruise, and landing processes with three different types of route segments. Then, an adaptive sliding model controller is used for the analysis and management of both wind disturbances and system uncertainties. Finally, both simulated scenarios and in-flight trials demonstrate the applicability of the methodology and the efficiency of the proposed approach.

Original languageEnglish
Pages (from-to)156-167
Number of pages12
JournalISA Transactions
Volume143
DOIs
StatePublished - Dec 2023

Keywords

  • Miniature unmanned aerial vehicle
  • Sliding mode control
  • Three-dimensional Dubins path
  • Vector-fields guidance
  • Wind disturbances

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