Vector Field Path Following for Miniature Air Vehicles

In this paper, a method for accurate path following for miniature air vehicles is developed. The method is based on the notion of vector fields, which are used to generate desired course inputs to inner-loop attitude control laws. Vector-field path-following control laws are developed for straight-l...

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Veröffentlicht in:	IEEE transactions on robotics 2007-06, Vol.23 (3), p.519-529
Hauptverfasser:	Nelson, D.R., Barber, D.B., McLain, T.W., Beard, R.W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Asymptotic properties Automation Cities and towns Computer science control theory systems Control system synthesis Control systems Control theory. Systems Errors Exact sciences and technology Flight simulation Fundamental areas of phenomenology (including applications) Laws Lyapunov method Mathematical analysis Methods Miniature Miniature aerial vehicle (MAV) Navigation Orbits path following Physics Remotely operated vehicles Robotics Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics Surveillance Testing Trajectory trajectory tracking unmanned aerial vehicle (UAV) Unmanned aerial vehicles Vectors (mathematics) Vehicles
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