无人机3D路径追踪新算法，控制受限下仍能精准跟径
Three-dimensional Nonlinear Path-following Guidance with Bounded Input Constraints
- 基于追击引导思想设计非线性控制律，无需依赖路径几何
- 固定时间内收敛至目标路径，初始位置不影响跟踪效果
- 适用于复杂曲率路径，适合对鲁棒性要求高的飞行任务
本文研究无人飞行器（UAV）在无预设时间要求的三维输出空间中跟踪任意光滑曲线路径的问题，且控制输入受约束。提出一种新型非线性路径跟随导引律，使UAV能在三维空间中准确跟踪任意平滑曲线路径，同时考虑控制能力的物理限制。该方法摆脱了对路径几何形状的依赖，适用于不同复杂度与曲率变化的路径。其设计灵感来自结构简单的追击引导策略。理论分析表明，无论初始状态如何，UAV均能在固定时间内收敛至目标路径并保持在其上。仿真结果在多种交战场景中验证了该导引策略的有效性与优越性，展示了无人机对多样化曲线路径的高精度跟踪能力。
原文摘要 · Abstract (English)
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following problems, subjected to bounded inputs. Specifically, we propose a novel nonlinear path-following guidance law for a UAV that enables it to follow any smooth curvilinear path in three dimensions while accounting for the bounded control authority in the design. The proposed solution offers a general treatment of the path-following problem by removing the dependency on the path's geometry, which makes it applicable to paths with varying levels of complexity and smooth curvatures. Additionally, the proposed strategy draws inspiration from the pursuit guidance approach, which is known for its simplicity and ease of implementation. Theoretical analysis guarantees that the UAV converges to its desired path within a fixed time and remains on it irrespective of its initial configuration with respect to the path. Finally, the simulations demonstrate the merits and effectiveness of the proposed guidance strategy through a wide range of engagement scenarios, showcasing the UAV's ability to follow diverse curvilinear paths accurately.
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