A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry
The problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the ba...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/3406256 |
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| _version_ | 1832554718010802176 |
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| author | Yi Zhu Xin Chen Chuntao Li |
| author_facet | Yi Zhu Xin Chen Chuntao Li |
| author_sort | Yi Zhu |
| collection | DOAJ |
| description | The problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the basic concepts of the moving frame are given. Secondly the transfer principles of various moving frames are formulated and the Bishop frame is selected as a final choice for its flexibility. Thirdly, the detailed dynamic equations of the moving frame tracking method are formulated. In simulation, a moving frame of an elliptic cylinder helix is formulated precisely. Then, the devised tracking method on the basis of the dynamic equations is tested in a complete flight control system with 6 DOF nonlinear equations of the UAV. The simulation result shows a satisfactory trajectory tracking performance so that the effectiveness and efficiency of the devised tracking method is proved. |
| format | Article |
| id | doaj-art-8c11f5c9058f410d8f6b06bed5081fc2 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-8c11f5c9058f410d8f6b06bed5081fc22025-02-03T05:50:50ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742016-01-01201610.1155/2016/34062563406256A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential GeometryYi Zhu0Xin Chen1Chuntao Li2College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaThe problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the basic concepts of the moving frame are given. Secondly the transfer principles of various moving frames are formulated and the Bishop frame is selected as a final choice for its flexibility. Thirdly, the detailed dynamic equations of the moving frame tracking method are formulated. In simulation, a moving frame of an elliptic cylinder helix is formulated precisely. Then, the devised tracking method on the basis of the dynamic equations is tested in a complete flight control system with 6 DOF nonlinear equations of the UAV. The simulation result shows a satisfactory trajectory tracking performance so that the effectiveness and efficiency of the devised tracking method is proved.http://dx.doi.org/10.1155/2016/3406256 |
| spellingShingle | Yi Zhu Xin Chen Chuntao Li A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry International Journal of Aerospace Engineering |
| title | A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry |
| title_full | A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry |
| title_fullStr | A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry |
| title_full_unstemmed | A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry |
| title_short | A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry |
| title_sort | moving frame trajectory tracking method of a flying wing uav using the differential geometry |
| url | http://dx.doi.org/10.1155/2016/3406256 |
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