What question did this study set out to answer?

To develop a guidance controller for small UAVs that effectively follows a path while compensating for wind disturbances.

September 1, 2012

Path following for small UAVs in the presence of wind disturbance

Key Points

To develop a guidance controller for small UAVs that effectively follows a path while compensating for wind disturbances.
Designed a guidance controller using a nonlinear disturbance observer to estimate wind effects.
Incorporated wind information into a nominal path following controller to create a composite controller.
Evaluated the controller's performance through simulations and initial flight tests.
Composite controller showed globally asymptotic stability through theoretical analysis.
Simulations indicated significant improvement in path following performance under wind disturbances.
Initial flight tests confirmed the controller's practical effectiveness in real-world conditions.

Abstract

This paper presents an alternative approach of designing a guidance controller for a small Unmanned Aerial Vehicle (UAV) to achieve path following in the presence of wind disturbances. The wind effects acting on the UAV are estimated by a nonlinear disturbance observer. Then the wind information is incorporated into the nominal path following controller to formulate a composite controller so as to compensate wind influences. The globally asymptotic stability of the composite controller is illustrated through theoretical analysis and its performance is evaluated by various simulations including the software-in-the-loop. Initial flight tests using a small aircraft are carried out to demonstrate its actual performance.

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