Velocity Control System Design for Follower UAV

DOI
  • Enomoto Keisuke
    Department of Aerospace Engineering, National Defense Academy of Japan
  • Yamasaki Takeshi
    Department of Aerospace Engineering, National Defense Academy of Japan
  • Takano Hiroyuki
    Department of Aerospace Engineering, National Defense Academy of Japan
  • Baba Yoriaki
    Department of Aerospace Engineering, National Defense Academy of Japan

Bibliographic Information

Other Title
  • 追従飛行する無人機のための速度制御系設計

Description

This paper introduces guidance and control system design for an automatic leader-following UAV in nonlinear motions. The guidance system using a dynamic inversion technique, the pure pursuit guidance law, and a velocity control might give a UAV high maneuverability to pursue the leader. The velocity control for the leader-following UAV is necessary to avoid colliding with or passing by the leader. We introduce a method for relative velocity and distance error correction, along with a control gain determination scheme based on a linear system approach.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390001205645111168
  • NII Article ID
    130004600195
  • DOI
    10.11511/jacc.50.0.101.0
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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