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Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic
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نویسنده
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chen y. ,liang j. ,wang c. ,zhang y. ,wang t. ,xue c.
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منبع
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journal of control science and engineering - 2017 - دوره : 2017 - شماره : 0
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چکیده
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A guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. the guidance law only needs the mathematical expression for the predefined path,the positions,and the velocities of the vehicle in the horizontal inertial frame. the stability of the guidance law has been demonstrated by the lyapunov stability arguments. in order to improve the path following performance,one of the parameters of the guidance law is tuned by using the fuzzy logic which will still keep its stability. the simulation experiments in the matlab/simulink environment to realize the square-,circular-,and the athletics track-style paths following are given to verify the effectiveness of the proposed method. the simulation results show that the path following performance will be improved with smaller overshoot and oscillation amplitude and shorter arrival time with the parameter tuned. © 2017 yang chen et al.
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آدرس
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school of mechanical and electrical engineering,longyan university,fujian,china,robotics institute,beihang university,beijing, China, robotics institute,beihang university,beijing, China, science and technology on special system simulation laboratory,beijing simulation center,beijing, China, robotics institute,beihang university,beijing, China, robotics institute,beihang university,beijing, China, robotics institute,beihang university,beijing, China
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Authors
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