Guidance and Control of an Unmanned Aerial Vehicle Along Energy Optimal Trajectories

Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/GutachtenBeitrag in KonferenzbandBeigetragenBegutachtung

Abstract

This paper presents a comprehensive guidance and control strategy for small unmanned aerial vehicles (UAVs) along energy optimal trajectories. An optimized flight path exploiting favorable wind fields provides significant energy savings. To maximize the energy savings, the UAV must remain close to the reference trajectory facing wind disturbances and uncertainty in the system dynamics. A look-ahead path following algorithm is implemented, which uses a nonlinear guidance law with inherent robustness against wind disturbance. This guidance law provides reference commands to specifically tailored inner-loop controllers. Classical loop shaping and robust mixed sensitivity 𝐻∞-techniques are used to design the individual control loops. The effectiveness of the approach is demonstrated for energy optimized trajectories.

Details

OriginalspracheEnglisch
TitelAIAA SciTech Forum, 2025
PublikationsstatusVeröffentlicht - 6 Jan. 2025
Peer-Review-StatusJa

Externe IDs

ORCID /0000-0002-0016-9637/work/176339530
ORCID /0000-0001-6734-704X/work/176341991

Schlagworte