A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV
Unmanned aerial vehicle (UAV) technology has recently experienced increasing development, leading to the creation of a wide variety of autonomous solutions. In this paper, a guidance strategy for straight and orbital paths following fixed-wing small UAVs is presented. The proposed guidance algorithm...
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| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/1/7 |
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| author | Luca Pugi Lorenzo Franchi Samuele Favilli Giuseppe Mattei |
| author_facet | Luca Pugi Lorenzo Franchi Samuele Favilli Giuseppe Mattei |
| author_sort | Luca Pugi |
| collection | DOAJ |
| description | Unmanned aerial vehicle (UAV) technology has recently experienced increasing development, leading to the creation of a wide variety of autonomous solutions. In this paper, a guidance strategy for straight and orbital paths following fixed-wing small UAVs is presented. The proposed guidance algorithm is based on a reference vector field as desired, with 16 courses for the UAV to follow. A sliding mode approach is implemented to improve the robustness and effectiveness, and the asymptotic convergence of the aircraft to the desired trajectory in the presence of constant wind disturbances is proved according to Lyapunov. The algorithm exploits the banking dynamics and generates reference signals for the inner-loop aileron control. A MATLAB&Simulink<sup>®</sup> simulation environment is used to verify the performance and robustness of the compared guidance algorithms. This high-fidelity model considers the six-degrees-of-freedom (DoF) whole-flight dynamics of the UAV and it is based on experimental flight test data to implement the aerodynamic behavior. |
| format | Article |
| id | doaj-art-15f75c8beb42421e8f6b714cea9e2338 |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-15f75c8beb42421e8f6b714cea9e23382025-01-24T13:48:23ZengMDPI AGRobotics2218-65812025-01-01141710.3390/robotics14010007A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAVLuca Pugi0Lorenzo Franchi1Samuele Favilli2Giuseppe Mattei3Department of Industrial Engineering, Università degli Studi di Firenze, 50139 Firenze, ItalySky Eye Systems SRL, 56021 Cascina, ItalyDepartment of Industrial Engineering, Università degli Studi di Firenze, 50139 Firenze, ItalyDepartment of Industrial Engineering, Università degli Studi di Firenze, 50139 Firenze, ItalyUnmanned aerial vehicle (UAV) technology has recently experienced increasing development, leading to the creation of a wide variety of autonomous solutions. In this paper, a guidance strategy for straight and orbital paths following fixed-wing small UAVs is presented. The proposed guidance algorithm is based on a reference vector field as desired, with 16 courses for the UAV to follow. A sliding mode approach is implemented to improve the robustness and effectiveness, and the asymptotic convergence of the aircraft to the desired trajectory in the presence of constant wind disturbances is proved according to Lyapunov. The algorithm exploits the banking dynamics and generates reference signals for the inner-loop aileron control. A MATLAB&Simulink<sup>®</sup> simulation environment is used to verify the performance and robustness of the compared guidance algorithms. This high-fidelity model considers the six-degrees-of-freedom (DoF) whole-flight dynamics of the UAV and it is based on experimental flight test data to implement the aerodynamic behavior.https://www.mdpi.com/2218-6581/14/1/7UAVwaypointspath followinglateral guidancevector fieldsliding mode |
| spellingShingle | Luca Pugi Lorenzo Franchi Samuele Favilli Giuseppe Mattei A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV Robotics UAV waypoints path following lateral guidance vector field sliding mode |
| title | A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV |
| title_full | A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV |
| title_fullStr | A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV |
| title_full_unstemmed | A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV |
| title_short | A Sliding Mode Approach to Vector Field Path Following for a Fixed-Wing UAV |
| title_sort | sliding mode approach to vector field path following for a fixed wing uav |
| topic | UAV waypoints path following lateral guidance vector field sliding mode |
| url | https://www.mdpi.com/2218-6581/14/1/7 |
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