摘要
无人机能够执行的任务已经多样化,要求其航线设计不再是点与直线。分析了无人机目前航线跟随的2种控制律,分析了其优缺点。提出了一种基于Serret-Frenet二维坐标系方案设计的航线跟随控制律,并进行了稳定性分析和仿真验证,同时在实验飞行中得以实现。经过仿真及实飞验证,此方案有良好的航线跟随性能。
As the multiple types of the tasks for the UAVs, the elements of the planned paths are no longer limited to waypoints and line segments. This paper analyzed two widely used guide laws for the UAV path following, including their advantages and disadvantages. A path following guide law based on Serret-Frenet 2-D coordinates is proposed. Its stability analysis and verification is provided. The experimental flight of the proposed guide law is also applied. By the simulations and flight experiments, the guide law shows good path following performance.
出处
《电子设计工程》
2014年第11期1-4,共4页
Electronic Design Engineering
基金
国家自然科学基金资助项目(61074155)
