Geometric 3D path-following control for a fixed-wing UAV on SO(3)

Venanzio Cichella, Enric Xargay, Vladimir Dobrokhodov, Isaac Kaminer, Ant́onio M. Pascoal, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of steering an Unmanned Aerial Vehicle along a given path. In the setup adopted, the vehicle is assigned a nominal path and a speed profile along it. The vehicle is then tasked to follow this nominal path independently of the temporal assignments of the mission, which is in contrast to "open-loop" trajectory tracking maneuvers. The paper builds on previous work by the authors on path-following control and derives a new control algorithm that uses the Special Orthogonal group SO(3) in the formulation of the attitude control problem. This formulation avoids the geometric singularities and complexities that appear when dealing with local parameterizations of the vehicle's attitude, and leads thus to a singularity-free path-following control law. Flight test results performed in Camp Roberts, CA, demonstrate the efficacy of the path-following control algorithm developed in this paper.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Geometric 3D path-following control for a fixed-wing UAV on SO(3)'. Together they form a unique fingerprint.

  • Cite this

    Cichella, V., Xargay, E., Dobrokhodov, V., Kaminer, I., Pascoal, A. M., & Hovakimyan, N. (2011). Geometric 3D path-following control for a fixed-wing UAV on SO(3). In AIAA Guidance, Navigation, and Control Conference 2011 (AIAA Guidance, Navigation, and Control Conference 2011).