Robust integrated lateral guidance and control of UAVs

Muhammad Zeeshan Babar; Raza Samar; Aamer Iqbal Bhatti; Marco Baglietto

doi:10.1109/MMAR.2015.7283930

Robust integrated lateral guidance and control of UAVs

Muhammad Zeeshan Babar, Raza Samar, Aamer Iqbal Bhatti, Marco Baglietto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H_∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.

Original language	English
Title of host publication	2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	523-528
Number of pages	6
ISBN (Electronic)	9781479987016
DOIs	https://doi.org/10.1109/MMAR.2015.7283930
State	Published - 29 Sep 2015
Externally published	Yes
Event	20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015 - Miedzyzdroje, Poland Duration: 24 Aug 2015 → 27 Aug 2015

Publication series

Name	2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015

Conference

Conference	20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015
Country/Territory	Poland
City	Miedzyzdroje
Period	24/08/15 → 27/08/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering

Access to Document

10.1109/MMAR.2015.7283930

Cite this

Babar, M. Z., Samar, R., Bhatti, A. I., & Baglietto, M. (2015). Robust integrated lateral guidance and control of UAVs. In 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015 (pp. 523-528). Article 7283930 (2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MMAR.2015.7283930

Babar, Muhammad Zeeshan ; Samar, Raza ; Bhatti, Aamer Iqbal et al. / Robust integrated lateral guidance and control of UAVs. 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 523-528 (2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015).

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title = "Robust integrated lateral guidance and control of UAVs",

abstract = "In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.",

author = "Babar, \{Muhammad Zeeshan\} and Raza Samar and Bhatti, \{Aamer Iqbal\} and Marco Baglietto",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015 ; Conference date: 24-08-2015 Through 27-08-2015",

year = "2015",

month = sep,

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doi = "10.1109/MMAR.2015.7283930",

language = "English",

series = "2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015",

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Babar, MZ, Samar, R, Bhatti, AI & Baglietto, M 2015, Robust integrated lateral guidance and control of UAVs. in 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015., 7283930, 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015, Institute of Electrical and Electronics Engineers Inc., pp. 523-528, 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015, Miedzyzdroje, Poland, 24/08/15. https://doi.org/10.1109/MMAR.2015.7283930

Robust integrated lateral guidance and control of UAVs. / Babar, Muhammad Zeeshan; Samar, Raza; Bhatti, Aamer Iqbal et al.
2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 523-528 7283930 (2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Samar, Raza

AU - Bhatti, Aamer Iqbal

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Y1 - 2015/9/29

N2 - In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.

AB - In this paper, a novel guidance scheme is presented for UAVs using the Integrated Guidance and Control (IGC) framework. The proposed guidance scheme is derived using H∞ Loop Shaping Design Procedure (LSDP). To recover from an initial cross track error, the proposed guidance algorithm produces such aileron commands that ensure the roll maneuvers without saturating the roll angle. The shaping of the open loop plant is carried out using the pre and post weights and then the robust stabilization is done by using the normalized left coprime factor uncertainty. The performance and robustness of the system are verified by introducing parametric uncertainties in to the system model. The results of the proposed scheme are verified by implementing it on a complete 6-DOF nonlinear model in the presence of wind disturbance. The simulation results indicate the effectiveness and robustness of the proposed guidance algorithm.

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BT - 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015

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Babar MZ, Samar R, Bhatti AI, Baglietto M. Robust integrated lateral guidance and control of UAVs. In 2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 523-528. 7283930. (2015 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015). doi: 10.1109/MMAR.2015.7283930

Robust integrated lateral guidance and control of UAVs

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this