A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles

Detalhes bibliográficos
Autor(a) principal: Khamseh,Hossein Bonyan
Data de Publicação: 2016
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of Aerospace Technology and Management (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462016000100063
Resumo: ABSTRACT In this paper, different feedback linearization schemes are studied to address the motion planning problem of fixed-wing unmanned aerial vehicles. For a unmanned aerial vehicle model with second-order dynamics, several schemes are studied to make the vehicle (i) fly over and (ii) make a loitering around the objective position. For each scheme, comparisons are made to illustrate the advantages and disadvantages. Lyapunov stability analysis is used to prove the stability of the proposed schemes, and simulation results for some case studies are included to show their feasibility.
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spelling A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial VehiclesFeedback linearizationUnmanned aerial vehicleMotion planningABSTRACT In this paper, different feedback linearization schemes are studied to address the motion planning problem of fixed-wing unmanned aerial vehicles. For a unmanned aerial vehicle model with second-order dynamics, several schemes are studied to make the vehicle (i) fly over and (ii) make a loitering around the objective position. For each scheme, comparisons are made to illustrate the advantages and disadvantages. Lyapunov stability analysis is used to prove the stability of the proposed schemes, and simulation results for some case studies are included to show their feasibility.Departamento de Ciência e Tecnologia Aeroespacial2016-03-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462016000100063Journal of Aerospace Technology and Management v.8 n.1 2016reponame:Journal of Aerospace Technology and Management (Online)instname:Departamento de Ciência e Tecnologia Aeroespacial (DCTA)instacron:DCTA10.5028/jatm.v8i1.542info:eu-repo/semantics/openAccessKhamseh,Hossein Bonyaneng2016-07-21T00:00:00Zoai:scielo:S2175-91462016000100063Revistahttp://www.jatm.com.br/ONGhttps://old.scielo.br/oai/scielo-oai.php||secretary@jatm.com.br2175-91461984-9648opendoar:2016-07-21T00:00Journal of Aerospace Technology and Management (Online) - Departamento de Ciência e Tecnologia Aeroespacial (DCTA)false
dc.title.none.fl_str_mv A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
title A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
spellingShingle A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
Khamseh,Hossein Bonyan
Feedback linearization
Unmanned aerial vehicle
Motion planning
title_short A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
title_full A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
title_fullStr A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
title_full_unstemmed A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
title_sort A Comparative Study of Four Feedback Linearization Schemes for Motion Planning of Fixed-Wing Unmanned Aerial Vehicles
author Khamseh,Hossein Bonyan
author_facet Khamseh,Hossein Bonyan
author_role author
dc.contributor.author.fl_str_mv Khamseh,Hossein Bonyan
dc.subject.por.fl_str_mv Feedback linearization
Unmanned aerial vehicle
Motion planning
topic Feedback linearization
Unmanned aerial vehicle
Motion planning
description ABSTRACT In this paper, different feedback linearization schemes are studied to address the motion planning problem of fixed-wing unmanned aerial vehicles. For a unmanned aerial vehicle model with second-order dynamics, several schemes are studied to make the vehicle (i) fly over and (ii) make a loitering around the objective position. For each scheme, comparisons are made to illustrate the advantages and disadvantages. Lyapunov stability analysis is used to prove the stability of the proposed schemes, and simulation results for some case studies are included to show their feasibility.
publishDate 2016
dc.date.none.fl_str_mv 2016-03-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462016000100063
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2175-91462016000100063
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.5028/jatm.v8i1.542
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Departamento de Ciência e Tecnologia Aeroespacial
publisher.none.fl_str_mv Departamento de Ciência e Tecnologia Aeroespacial
dc.source.none.fl_str_mv Journal of Aerospace Technology and Management v.8 n.1 2016
reponame:Journal of Aerospace Technology and Management (Online)
instname:Departamento de Ciência e Tecnologia Aeroespacial (DCTA)
instacron:DCTA
instname_str Departamento de Ciência e Tecnologia Aeroespacial (DCTA)
instacron_str DCTA
institution DCTA
reponame_str Journal of Aerospace Technology and Management (Online)
collection Journal of Aerospace Technology and Management (Online)
repository.name.fl_str_mv Journal of Aerospace Technology and Management (Online) - Departamento de Ciência e Tecnologia Aeroespacial (DCTA)
repository.mail.fl_str_mv ||secretary@jatm.com.br
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