Lyapunov-Lasalle based dynamic stabilization for fixed wing drones lyapunov‐lasalle based dynamic stabilization for fixed wing drones

• Autorzy: Sawma Jean , Ajami Alain , Maillot Thibault , el Maalouf Joseph

Identyfikatory

DOI

10.14313/JAMRIS/4‐2023/29

• Języki publikacji: EN

Abstrakty

EN

The market of Unmanned Aerial Vehicles (UAVs) for civil applications is extensively growing. Indeed, these air- planes are now widely used in applications such as data gathering, agriculture monitoring and rescue. The UAVs are required to track a fixed or moving object; thus, tracking control algorithms that ensure the system stability and that have a quick time response must be developed. This paper tackles the problem of supervising a fixed target using a fixed wing UAV flying at a constant altitude and a constant speed. For that purpose, three control algorithms were developed. In all of the algorithms, the UAV is expected to hover around the target in a circular trajectory. Moreover, the three approaches are based upon a Lyapunov-LaSalle stabilization method. The first tracking algorithm ensures that the UAV circles around the target. However, the path that the UAV follows in order to join this pattern is not studied. In the second and third approach, two different techniques that allow the UAV to intercept its final circular pattern in the quickest possible time and thus follow the tangent to the circular pattern are presented. Simulation results that show and compare the performances of the proposed methods are presented.

Słowa kluczowe

EN

UAV; stabilisation; Lyapunov-LaSalle

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 4
• Strony: 40--48
• Opis fizyczny: Bibliogr. 24 poz., rys.

Twórcy

autor

Sawma Jean

• Faculty of Engineering, Saint Joseph University of Beirut, Beirut, Lebanon

autor

Ajami Alain

• Faculty of Engineering, Saint Joseph University of Beirut, Beirut, Lebanon

autor

Maillot Thibault

• Agrosup, Dijon, France

autor

el Maalouf Joseph

• College of Engineering and Technology, American University of the Middle, Kuwait

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).