Nonlinear Control Design for an Unmanned Aerial Vehicle for Path Following. Issue 1 (2022)

• Record Type: Journal Article
• Authors: Singh, Shivam Kumar; Sinha, Abhinav; Kumar, Shashi Ranjan
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 1(2022)
• Page Start: 592
• Page End: 597
• Publication Date: 2022
• Subjects: Trajectory tracking -- Autonomous vehicles -- Sliding mode control -- Path following -- Unmanned Aerial Vehicle (UAV)/Drone; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.04.097
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this work, we design a nonlinear controller for an autonomous unmanned aerial vehicle (UAV) to follow a predefined trajectory. The UAV is made to follow the desired path by driving the UAV's relative distance to the path, and its look angle to zero. The proposed design is easy to implement as it does not need path curvature information and uses the philosophy of target pursuit to follow the predefined path. We further demonstrate the merits of the proposed method through simulations for various cases in accurately tracking straight line and curvilinear paths.