Abstract: Unmanned aerial vehicle path following is addressed as an infinite horizon regulator problem. Using the linear quadratic regulator technique an optimal guidance law is derived. The state weighting matrix is chosen as a function of the position error and this adaptive nature of the cost function controls the UAV errors tightly. Numerical simulations are carried out for straight line and circular paths under various wind conditions. Results show considerably lower position errors as compared to an existing guidance law. Path following with winds up to half the vehicle airspeed is achieved.
A linear quadratic regulator for optimal guidance of a fixed-wing aerial vehicle is exposed in REF .
Adaptive Optimal Path Following for High Wind Flights
IFAC Proceedings Volumes
Engineering