eprintid: 10188625
rev_number: 7
eprint_status: archive
userid: 699
dir: disk0/10/18/86/25
datestamp: 2024-03-07 11:31:56
lastmod: 2024-03-07 11:31:56
status_changed: 2024-03-07 11:31:56
type: article
metadata_visibility: show
sword_depositor: 699
creators_name: Lu, H
creators_name: Gao, L
creators_name: Yan, Y
creators_name: Hou, M
creators_name: Wang, C
title: Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F48
keywords: Path following, Guiding vector field, Wind disturbance, Disturbance rejection, Fixed wings
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight path. To cope with various wind conditions, this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the inner-loop. Since the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint, a scaling mechanism is introduced to tune the proportions of the compensation and nominal components. Moreover, an optimization problem is formulated to pursue a maximum wind compensation in strong winds, which can be solved analytically to yield two scaling factors. A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector field. High-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises, achieves promising accuracy in normal winds, and mitigates the deviation from a desired path in wild winds.
date: 2024-02
date_type: published
publisher: Elsevier BV
official_url: https://doi.org/10.1016/j.cja.2023.09.020
oa_status: green
full_text_type: pub
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2092733
doi: 10.1016/j.cja.2023.09.020
lyricists_name: Yan, Yunda
lyricists_id: YYAAC15
actors_name: Yan, Yunda
actors_id: YYAAC15
actors_role: owner
full_text_status: public
publication: Chinese Journal of Aeronautics
volume: 37
number: 2
pagerange: 431-445
issn: 1000-9361
citation:        Lu, H;    Gao, L;    Yan, Y;    Hou, M;    Wang, C;      (2024)    Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds.                   Chinese Journal of Aeronautics , 37  (2)   pp. 431-445.    10.1016/j.cja.2023.09.020 <https://doi.org/10.1016/j.cja.2023.09.020>.       Green open access   
 
document_url: https://discovery-pp.ucl.ac.uk/id/eprint/10188625/1/1-s2.0-S100093612300331X-main.pdf