Constrained Moving Path Following Control for UAV With Robust Control Barrier Function

doi:10.1109/JAS.2023.123573

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	Constrained Moving Path Following Control for UAV With Robust Control Barrier Function
	Zewei Zheng; Jiazhe Li; Zhiyuan Guan; Zongyu Zuo
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2023
卷号	10 期号:7 页码:1557-1570
摘要	This paper studies the moving path following (MPF) problem for fixed-wing unmanned aerial vehicle (UAV) under output constraints and wind disturbances. The vehicle is required to converge to a reference path moving with respect to the inertial frame, while the path following error is not expected to violate the predefined boundaries. Differently from existing moving path following guidance laws, the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem. A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers. To guarantee that the path following error will not exceed the prescribed bounds, a robust control barrier function is developed and incorporated into controller design with quadratic program based framework. The proposed method does not require the initial position of the UAV to be within predefined boundaries. And the safety margin concept makes error-constraint be respected even if in a noisy environment. The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-the-loop (HIL) experiments.
关键词	Moving path following (MPF) robust control barrier function safety margin shipboard landing unmanned aerial vehicle (UAV)
DOI	10.1109/JAS.2023.123573
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51993
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zewei Zheng,Jiazhe Li,Zhiyuan Guan,et al. Constrained Moving Path Following Control for UAV With Robust Control Barrier Function[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(7):1557-1570.
APA	Zewei Zheng,Jiazhe Li,Zhiyuan Guan,&Zongyu Zuo.(2023).Constrained Moving Path Following Control for UAV With Robust Control Barrier Function.IEEE/CAA Journal of Automatica Sinica,10(7),1557-1570.
MLA	Zewei Zheng,et al."Constrained Moving Path Following Control for UAV With Robust Control Barrier Function".IEEE/CAA Journal of Automatica Sinica 10.7(2023):1557-1570.

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