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The document presents a new nonlinear guidance logic for trajectory tracking by unmanned aerial vehicles. The logic approximates a proportional-derivative controller for straight line paths but also enables tight tracking of curved paths through anticipatory control. It uses inertial speed and adds adaptability to changes in speed from disturbances. Flight tests of two small UAVs showed tracking of circular paths to within 1.6m RMS and close rendezvous to within 12m, demonstrating the logic's superior performance over linear feedback approaches for complex trajectories.
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A New Nonlinear Guidance Logic for Trajectory Tracking.pdf
The document presents a new nonlinear guidance logic for trajectory tracking by unmanned aerial vehicles. The logic approximates a proportional-derivative controller for straight line paths …