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Many guidance laws for UAVs focus on path following. And trajectory tracking problem is enough when it satisfies path and time constrains. One more constraint will be considered in this research, that is, approaching direction to a terminal position. Two methods will be introduced; they are based on Pythagorean-Hodograph curve, and the Lyapunov vector field, respectively. The first algorithm consists...
The momentum transfer control of a rigid spacecraft with two momentum wheel actuators is investigated using feedback linearization technique focusing on very small nutation angle as a performance index. The equations of motion are transformed to a general linearized form by feedback linearization, including a guarantee of internal dynamics stability. It is known that the configuration of inertia properties...
In this paper, a ducted fan Uninhabited Aerial Vehicle(UAV), being capable of vertical take-off and landing, is studied to understand characteristics and control of the vehicle. The ducted fan UAV is unstable and susceptible to wind due to its external structural shape. Also the ducted fan UAV must change the attitude to gain speed, so it has different characteristics with respect to velocity. To...
Using Fisher Information Matrix (FIM), the optimal trajectory to localize a specifc target is obtained as optimization problem. However, it is more effective to employ more vehicles with various sensors in order to gather suffcient information about the target. So, it is investigated how multi vehicles with different types of sensors by cooperative maneuver affect the trajectory in this paper. Clearly...
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