固定翼无人机曲线路径跟踪的积分向量场方法

Curved path following for fixed-wing unmanned aerial vehicles using integral vector field

常规的向量场方法在处理无人机曲线路径跟踪问题时很容易受非定常风扰的影响而使得跟踪误差增加,因此很多方法采用用无人机的惯性坐标系(地速和方位角)替代机体坐标系(空速和偏航角)的方式来提高抗风性能。但是,这种方式只能处理大小和方向均恒定的风扰,这在实际飞行中是过于理想的假设。为了克服这些不足,提出了一种采用侧偏距的积分来主动抵消非定常风扰的积分向量场方法用于固定翼无人机曲线路径跟踪控制。根据期望路径的曲率及路径角,结合无人机自身的状态信息设计了曲线路径跟踪策略,并且使用李雅普诺夫理论证明了提出的方法能够确保闭环系统的全局渐进稳定。最后,使用高性能半实物仿真系统验证了提出方法的抗风跟踪性能。

The conventional vector field method is very susceptible to unsteady wind disturbances in the handling of UAV（ unmanned aerial vehicle） curved path following problems,which increases the tracking error. Therefore,many methods use the inertial coordinate system of a vehicle（ the ground speed and the course） instead of the body coordinate system（ the airspeed and the yaw angle） to improve the wind resistance.However,this method can only handle the wind disturbances with constant amplitude and direction,which is an ideal assumption in actual flight.In order to overcome these deficiencies,an integrated vector field method was proposed for actively cancelling unsteady wind disturbances using the integral of side-offsets for the curved path following of a fixed-wing UAV. According to the curvature of the desired path and the path angle,the curved path following strategy was designed on the basis of the state information of the vehicle itself,and the Lyapunov theory was used to prove that the proposed method can ensure the global asymptotic stability of the closed-loop system. Finally,the wind tracking performance of the proposed method was verified through the high performance hardware-in-the-loop simulation system.