Integrated guidance and autopilot design for a chasing UAV via high-order sliding modes |
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| Authors: | Takeshi Yamasaki SN Balakrishnan Hiroyuki Takano |
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| Institution: | 1. Department of Aerospace Engineering, The National Defense Academy of Japan, Kanagawa 239-8686, Japan;2. Department of Mechanical and Aerospace Engineering, Missouri University of Science and Technology, Rolla, MO 65409, USA;1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, 410073, China;2. The State Key Laboratory of Astronautic Dynamics, China Xi''an Satellite Control Center, Xi''an, 710043, China;1. Maritime Division, Defence Science and Technology Organisation, Fisherman''s Bend VIC 3207, Australia;2. School of Engineering, The University of Newcastle, Callaghan NSW 2308, Australia;3. Science and Engineering Faculty, Queensland University of Technology, Brisbane QLD 4000, Australia;1. School of Industrial Engineering, College of Engineering, University of Tehran, Tehran, Iran;2. School of Industrial Engineering, Iran University of Science and Technology, Tehran, Iran;1. School of Astronautics, Northwestern Polytechnical University, Xi''an, Shaanxi, 710072, People''s Republic of China;2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi''an, Shaanxi, 710072, People''s Republic of China |
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| Abstract: | Integrated guidance and control (IGC) approaches exploit the synergy between guidance and control designs. This study focuses on the integrated guidance and control (autopilot) design for a chasing Uninhabited Aerial Vehicle (UAV) against a target aircraft. A second-order sliding structure with a second-order sliding mode (SOSM) including a high-order sliding mode (HOSM) observer for the estimation of the uncertain sliding surfaces is selected to develop an integrated guidance and autopilot scheme. In order to make the design synthesis easier, intermediate control variables for partial derivatives of a sliding surface are carefully selected. The resulting sliding surface structure is simple and sufficient to relate the actuator input to the sliding surface. The potential of the proposed method is demonstrated through an aircraft application by comparing its simulation performance, number of tuning parameters used, and information needed for its implementation with an approach where the guidance law and the controller are designed separately. |
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