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A fuzzy-plos guidance law for precise trajectory tracking of a UAV in the presence of wind

Nobahari, H ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1007/s10846-022-01635-y
  3. Publisher: Springer Science and Business Media B.V , 2022
  4. Abstract:
  5. The combination of pursuit and line of sight guidance laws, called PLOS, is used to steer an unmanned aerial vehicle along a desired path. In the previous studies, the parameters of this guidance law are tuned by trial and error and are constant, during the flight. In this research, it will be shown that the optimal value of these parameters depends on the initial conditions of the problem and the wind conditions. For this reason, a fuzzy system is proposed to generate the instantaneous optimal value of these parameters, in such a way that the flying vehicle converges to the desired path in less time and follows it more accurately, in the presence of wind. For this purpose, a cost function is defined to penalize the distance from the desired path and the control effort. Then, the parameters of the fuzzy system are optimized for different initial and wind conditions. During the flight, the optimized fuzzy systems determine the parameters of the guidance algorithm in an online manner, in such a way that the desired path is better followed. The obtained results show that online adjustment of the PLOS guidance law improves its performance in the presence of wind by about 20%. © 2022, The Author(s), under exclusive licence to Springer Nature B.V
  6. Keywords:
  7. Fuzzy system ; Parameter optimization ; Trajectory tracking ; Air navigation ; Aircraft detection ; Antennas ; Cost functions ; Optimal systems ; Unmanned aerial vehicles (UAV) ; Guidance laws ; Initial conditions ; Line-of-sight guidance laws ; LOS guidance ; Optimal values ; PLOS guidance ; Pursuit guidance ; Trajectory-tracking ; Wind conditions ; Fuzzy systems
  8. Source: Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 105, Issue 1 , 2022 ; 09210296 (ISSN)
  9. URL: https://link.springer.com/article/10.1007/s10846-022-01635-y