Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic
A guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. The guidance law only needs the mathematical expression for the predefined path, the positions, and the velocities of the vehicle in the horizontal inertial frame. The stability...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2017/6712602 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832551884091555840 |
|---|---|
| author | Yang Chen Jianhong Liang Chaolei Wang Yicheng Zhang Tianmiao Wang Chenghao Xue |
| author_facet | Yang Chen Jianhong Liang Chaolei Wang Yicheng Zhang Tianmiao Wang Chenghao Xue |
| author_sort | Yang Chen |
| collection | DOAJ |
| description | A guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. The guidance law only needs the mathematical expression for the predefined path, the positions, and the velocities of the vehicle in the horizontal inertial frame. The stability of the guidance law has been demonstrated by the Lyapunov stability arguments. In order to improve the path following performance, one of the parameters of the guidance law is tuned by using the fuzzy logic which will still keep its stability. The simulation experiments in the Matlab/Simulink environment to realize the square-, circular-, and the athletics track-style paths following are given to verify the effectiveness of the proposed method. The simulation results show that the path following performance will be improved with smaller overshoot and oscillation amplitude and shorter arrival time with the parameter tuned. |
| format | Article |
| id | doaj-art-7215b730a69a4f6cb12aad077d3b6fd1 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-7215b730a69a4f6cb12aad077d3b6fd12025-02-03T06:00:07ZengWileyJournal of Control Science and Engineering1687-52491687-52572017-01-01201710.1155/2017/67126026712602Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy LogicYang Chen0Jianhong Liang1Chaolei Wang2Yicheng Zhang3Tianmiao Wang4Chenghao Xue5School of Mechanical and Electrical Engineering, Longyan University, Fujian 364000, ChinaRobotics Institute, Beihang University, Beijing 100191, ChinaScience and Technology on Special System Simulation Laboratory, Beijing Simulation Center, Beijing 100854, ChinaRobotics Institute, Beihang University, Beijing 100191, ChinaRobotics Institute, Beihang University, Beijing 100191, ChinaRobotics Institute, Beihang University, Beijing 100191, ChinaA guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. The guidance law only needs the mathematical expression for the predefined path, the positions, and the velocities of the vehicle in the horizontal inertial frame. The stability of the guidance law has been demonstrated by the Lyapunov stability arguments. In order to improve the path following performance, one of the parameters of the guidance law is tuned by using the fuzzy logic which will still keep its stability. The simulation experiments in the Matlab/Simulink environment to realize the square-, circular-, and the athletics track-style paths following are given to verify the effectiveness of the proposed method. The simulation results show that the path following performance will be improved with smaller overshoot and oscillation amplitude and shorter arrival time with the parameter tuned.http://dx.doi.org/10.1155/2017/6712602 |
| spellingShingle | Yang Chen Jianhong Liang Chaolei Wang Yicheng Zhang Tianmiao Wang Chenghao Xue Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic Journal of Control Science and Engineering |
| title | Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic |
| title_full | Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic |
| title_fullStr | Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic |
| title_full_unstemmed | Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic |
| title_short | Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic |
| title_sort | planar smooth path guidance law for a small unmanned aerial vehicle with parameter tuned by fuzzy logic |
| url | http://dx.doi.org/10.1155/2017/6712602 |
| work_keys_str_mv | AT yangchen planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic AT jianhongliang planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic AT chaoleiwang planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic AT yichengzhang planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic AT tianmiaowang planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic AT chenghaoxue planarsmoothpathguidancelawforasmallunmannedaerialvehiclewithparametertunedbyfuzzylogic |