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Sliding Surface-Based Path Planning for Unmanned Aerial Vehicle Aerobatics.
- Source :
- Mathematics (2227-7390); Apr2024, Vol. 12 Issue 7, p1047, 25p
- Publication Year :
- 2024
-
Abstract
- This paper exploits the concept of nonlinear sliding surfaces to be used as a basis in the development of aerial path planning projects involving aerobatic three-dimensional path curves in the presence of disturbances. This approach can be used for any kind of unmanned aerial vehicle aimed at performing aerobatic maneuvers. Each maneuver is associated with a nonlinear surface on which an aerial vehicle could be driven to slide. The surface design exploits the properties of Viviani's curve and the Hopf bifurcation. A vector form of the super twisting algorithm steers the vehicle to the prescribed surfaces. A suitable switching control law is proposed to shift between surfaces at different time instants. A practical stability analysis that involves the descriptor approach allows for determining the controller gains. Numerical simulations are developed to illustrate the accomplishment of the suggested aerobatic flight. [ABSTRACT FROM AUTHOR]
- Subjects :
- STUNT flying
HOPF bifurcations
Subjects
Details
- Language :
- English
- ISSN :
- 22277390
- Volume :
- 12
- Issue :
- 7
- Database :
- Complementary Index
- Journal :
- Mathematics (2227-7390)
- Publication Type :
- Academic Journal
- Accession number :
- 176593827
- Full Text :
- https://doi.org/10.3390/math12071047