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http://dx.doi.org/10.5370/KIEE.2010.59.7.1309

A Vertical Line Following Guidance Law Design  

Whang, Ick-Ho (국방과학연구소)
Cho, Sung-Jin (국방과학연구소)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.59, no.7, 2010 , pp. 1309-1313 More about this Journal
Abstract
In this paper, we propose a novel guidance law for controlling an UAV(Unmanned Air-Vehicle) to follow a reference line in vertical plane. A kinematics model representing the relative motion of the UAV to the reference line is derived. And then LQR(Linear Quadratic Regulator) theory is applied to the model to derive the VLFG(Vertical Line Following Guidance) law. The resultant guidance law forms a gain-scheduling controller scheduled by a simple parameter $\sigma$ which is a function of the UAV's velocity, axial acceleration, gravity, and the slope of the reference line. Also derived is a stability condition for the $\sigma$ variation based on Lyapunov theory. Simulation results show that the proposed guidance law can be applied effectively to UAV guidance algorithm design.
Keywords
LQR; Guidance Law; Height Control;
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  • Reference
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