METHOD IN WHICH SMALL FIXED-WING UNMANNED AERIAL VEHICLE FOLLOWS PATH AND LGVF PATH-FOLLOWING CONTROLLER USING SAME

摘要

Provided is an LGVF path-following controller including: an LGVF control unit that is provided with a heading angle command for a wing-fixed unmanned aerial vehicle and guidance commands from the outside, and is provided with a computed estimation disturbance speed from a nonlinear disturbance control unit; a heading angle computation control unit that computes a final heading angle of the wing-fixed unmanned aerial vehicle using a difference between the heading angle of the wing-fixed unmanned aerial vehicle, which is computed by the LGVF control unit, and a heading angle of the wing-fixed unmanned aerial vehicle in an ideal environment where a disturbance is not present; and a nonlinear disturbance control unit that computes the estimation disturbance speed using the final heading angle provided from the heading angle computation control unit and pieces of sensor data on the wing-fixed unmanned aerial vehicle, which are provided from a sensor.