Robust integrated lateral guidance and control of UAVs

Muhammad Zeeshan Babar, Raza Samar, Aamer Iqbal Bhatti, Marco Baglietto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.
Original languageEnglish
Title of host publication2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
PublisherIEEE
Pages523-528
Number of pages6
ISBN (Electronic)978-1-4799-8701-6, 978-1-4799-8700-9
DOIs
Publication statusPublished - 1 Oct 2015
Event20th International Conference on Methods and Models in Automation and Robotics - Międzyzdroje, Poland
Duration: 24 Aug 201527 Aug 2015
Conference number: 20
http://mmar.edu.pl/mmar2015/

Conference

Conference20th International Conference on Methods and Models in Automation and Robotics
Abbreviated titleMMAR 2015
Country/TerritoryPoland
CityMiędzyzdroje
Period24/08/1527/08/15
Internet address

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