期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：5
页码：206
DOI：10.5772/53615
语种：English
出版社：SAGE Publications
摘要：This paper describes an adaptive control approach of three-dimensional (3D) nonlinear path following for a fix-wing micro aerial vehicle (MAV) with wind disturbances in complicated terrain. We derive the control laws of course and flight path angle by the constructed Lyapunov function applying vector field theory based on the error equations in the Serret-Frenet frame, which are built by virtue of the relationship between the nonlinear desired trajectory and MAV. The 3D desired trajectory is fitted by using the fifth-order B-splines method through a sequence of waypoints created and sent by the ground station. Furthermore, the control laws are proved to be converged asymptotically and stably based on Lyapunov stability arguments. The results of the flight test experiment show that the flight could perform well under wind disturbances with a good trajectory tracking precision and high flight quality.
关键词：Micro-Aerial-Vehicle (MAV); Path following; Three-dimension; Adaptive Control; B-splines; Vector Field
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