Monte Carlo Simulation Based Design of a Robust Trajectory Guidance for Loitering Aerial Vehicles

摘要

This paper presents a practical and robust implementation of a nonlinear autopilot design with guidance and navigation capabilities in the presence of disturbances and modeling un-certainties. Different from well-known model-based autopilot designs, the proposed method involves a robust sliding mode controller which is tuned by Monte Carlo simulations. The air-craft model used consists a nominal simplified loitering aerial vehicle dynamics plus bounded random parameter variations or uncertainties. The simulations of aircraft trajectory are repre-sented in the presence of parametric perturbations and both disturbance rejection and tracking performance are investigated. In addition to autopilot design, in the paper, the computational costs of the whole process on cross-platforms are presented as well.