On the guidance of a UAV under unknown wind disturbances

Abstract : We examine the path-following guidance of a UAV in three-dimensions and in the presence of quasi-constant but unknown wind disturbances. The analysis and control design are based only on a kinematic model. A first contribution is an alternative description of the dynamics that simplifies the design. A second contribution is the derivation of a guidance law that ensures the global asymptotic convergence to the desired path in spite of wind perturbations. To achieve our objective a simple estimator based on the Immersion and Invariance (I&I) approach is used for the estimation of the wind velocities and tools from robustness analysis for the stability proof.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01073423
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Submitted on : Thursday, October 9, 2014 - 4:44:11 PM
Last modification on : Friday, November 23, 2018 - 11:12:05 AM

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Ioanis Sarras, Houria Siguerdidjane. On the guidance of a UAV under unknown wind disturbances. 2014 IEEE Conference on Control Applications (CCA), Oct 2014, Antibes, France. ⟨10.1109/CCA.2014.6981442⟩. ⟨hal-01073423⟩

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