06.2 - Flight Dynamics and Control (UAV related)
THREE DIMENSIONAL PATH FOLLOWING CONTROL FOR A FIXED-WING UAV ON SO(3) WITH INPUT SATURATION
B. Zhang¹, W. Li, The Second Representative Office of Air Force Armament Departmen, China; Z. Miao¹, Y. Zhang, Beijing System Design Institute of Mechanical-Electrical Enginee, China; ¹Northwestern Polytechnical University, China
A three-dimensional path following controller on SO(3) is proposed for a fixed-wing UAV. It has a faster convergent rate and proper damping with the aid of an adaptive auxiliary frame. It suppresses disturbances by tuning the control gain dynamically, and is capable of coping with input saturation by using hyperbolic tangent functions.