NPS logo Naval Postgraduate School
Dudley Knox Library
        View Item 
        •   Calhoun Home
        • Faculty and Researchers
        • Faculty and Researchers Collection
        • View Item
        •   Calhoun Home
        • Faculty and Researchers
        • Faculty and Researchers Collection
        • View Item
        • How to search in Calhoun
        • My Accounts
        • Ask a Librarian
        JavaScript is disabled for your browser. Some features of this site may not work without it.

        Browse

        All of CalhounCollectionsThis Collection

        My Account

        LoginRegister

        Statistics

        Most Popular ItemsStatistics by CountryMost Popular Authors

        Path Following for Unmanned Aerial Vehicles Using L1 Adaptive Augmentation of Commercial Autopilots

        Thumbnail
        View/Open
        IconKaminer_Path_Following.pdf (1.355Mb)
        Download Record
        Download to EndNote/RefMan (RIS)
        Download to BibTex
        Author
        Kaminer, Isaac
        Pascoal, António
        Xargay, Enric
        Hovakimyan, Naira
        Cao, Chengyu
        Dobrokhodov, Vladimir
        Date
        2010
        Metadata
        Show full item record
        Abstract
        The paper presents a three-dimensional path-following control algorithm that expands the capabilities of conventional autopilots, which are normally designed to provide only guidance loops for waypoint navigation. Implementation of this algorithm broadens the range of possible applications of small unmanned aerial vehicles. The solution proposed takes explicit advantage of the fact that normally these vehicles are equipped with autopilots stabilizing the vehicles and providing angular-rate tracking capabilities. Therefore, the overall closed-loop system exhibits naturally an inner–outer (dynamics–kinematics) control loop structure. The outer-loop path-following control law developed relies on a nonlinear control strategy derived at the kinematic level, while the inner-loop consisting of the autopilot together with an L1 adaptive augmentation loop is designed to meet strict performance requirements in the presence of unmanned aerial vehicle modeling uncertainty and environmental disturbances. A rigorous proof of stability and performance of the path-following closed-loop system, including the dynamics of the unmanned aerial vehicle with its autopilot, is given. The paper bridges the gap between theory and practice and includes results of extensive flight tests performed in Camp Roberts, California, which demonstrate the benefits of the framework adopted for the control system design.
        Description
        The article of record as published may be located at http://dx.doi.org/10.2514/1.42056
        URI
        http://hdl.handle.net/10945/45468
        Collections
        • Faculty and Researchers Collection

        Related items

        Showing items related by title, author, creator and subject.

        • Thumbnail

          Coordinated Path Following for Time-Critical Missions of Multiple UAVs via L1 Adaptive Output Feedback Controllers 

          Kaminer, I.; Yakimenko, O.; Dobrokhodov, V.; Pascoal, A.; Hovakimyan, N.; Cao, C.; Young, A.; Patel, V. (American Institute of Aeronautics and Astronautics, Inc., 2007-08);
          This paper develops a complete framework for coordinated control of multiple unmanned air vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints in restricted ...
        • Thumbnail

          Automated Warfare 

          Lucas, George R., Jr. (2014);
          In this Article, I review the military and security uses of robotics and “unmanned” or “uninhabited” (and sometimes “remotely piloted”) vehicles in a number of relevant conflict environments that, in turn, raise issues ...
        • Thumbnail

          Geometric 3D path-following control for a fixed-wing UAV on SO(3) 

          Cichella, Venanzio; Xargay, Enric; Dobrokhodov, Vladimir; Kaminer, Isaac; Pascoal, Antonio M.; Hovankimyan, Naira (Monterey, California. Naval Postgraduate School, 2011);
          This paper addresses the problem of steering an Unmanned Aerial Vehicle along a given path. In the setup adopted, the vehicle is assigned a nominal path and a speed profile along it. The vehicle is then tasked to follow ...
        Feedback

        411 Dyer Rd. Bldg. 339
        Monterey, CA 93943

         

        circdesk@nps.edu
        (831) 656-2947
        DSN 756-2947

        Start Your Research

        • Research Guides
        • How to Cite
        • Search Basics
        • Ask a Librarian
        • Library Liaisons
        • Graduate Writing Center
        • Thesis Processing Office
        • Statistics, Maps & More
        • Copyright at NPS

        Find & Download

        • Databases List
        • Articles, Books & More
        • NPS Theses
        • NPS Faculty Publications: Calhoun
        • Journal Titles
        • Course Reserves

        Use the Library

        • My Accounts
        • Request Article or Book
        • Borrow, Renew, Return
        • Remote Access
        • Workshops & Tours
        • For Faculty & Researchers
        • For International Students
        • For Alumni
        • Print, Copy, Scan, Fax
        • Rooms & Study Spaces
        • Floor Map
        • Computers & Software
        • Adapters, Lockers & More

        Collections

        • NPS Archive: Calhoun
        • Restricted Resources
        • Special Collections & Archives
        • Federal Depository
        • Homeland Security Digital Library

        About

        • Hours
        • Library Staff
        • About Us
        • Visit Us

        NPS-Licensed Resources - Terms & Conditions

        Copyright Notice

         
         

        Facebook logo Federal Depository Library Program Emblem NPS Video Portal

        NPS Home Privacy Policy Copyright Accessibility Contact Webmaster