Three dimensional moving path following for fixed-wing unmanned aerial vehicles

Tiago Oliveira, A. Pedro Aguiar, Pedro Encarnação

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)

Abstract

Moving Path Following (MPF) control laws allows an autonomous vehicle to converge to and follow a path that is moving with respect to an inertial frame. This paper formally extends the MPF methods present in the literature to the case of three dimensional paths that can be moving with time-varying linear and angular velocities with respect to an inertial frame. A 3D MPF error space and a MPF Lyapunov-based control law is derived at kinematic level for a fixed-wing unmanned aerial vehicle. Formal convergence proofs and validation using flight test results are presented, demonstrating the effectiveness of the proposed method.
Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2710-2716
Number of pages7
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 21 Jul 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period29/05/173/06/17

Fingerprint

Dive into the research topics of 'Three dimensional moving path following for fixed-wing unmanned aerial vehicles'. Together they form a unique fingerprint.

Cite this