向量场方法无人直升机轨迹跟踪控制

Trajectory tracking control of unmanned helicopter based on vector field method

为实现无人直升机自主跟踪预定轨迹,根据无人直升机的位置和航向信息,提出一种基于向量场的无人直升机轨迹跟踪制导方法。该方法依据地面轨迹航向误差和侧偏距误差渐进为零设计制导律,可用于直线和圆弧轨迹的跟踪。仿真结果表明该方法能使无人直升机成功跟踪预定轨迹,且具有良好的跟踪性能。

In order to achieve the unmanned helicopter autonomous tracking the desired trajectory,a method based on the vector field is proposed to design the guidance law of the unmanned helicopter according to the location and course information of the unmanned helicopter. The key feature of this approach is that ground track heading error and lateral following error approach zero asymptotically to design the guidance law and it can be used to follow straight-line and circular-orbit paths. Simulation results show that the method enables the unmanned helicopter successfully to track the desired trajectory,and presents well tracking performance.