Optimal Path Generating and Path Following Algorithm For Auto Landing of Fixed Wing UAVs

Auto landing of fixed wing UAVs is a challenging problem. In this article, firstly UAV dynamics is introduced that completely describes the motion of UAV. Then the trim points are analyzed that are flying paths of our system and determined by proper inputs. Study and analysis of trim points provide useful insight and understanding of model validity range. We define the trim condition and provide an explicit formulation for computation of stationary trajectories. By combination of different trim flight conditions, we can design various and more complicated paths for maneuver and landing. Then we focus on path following algorithm by using optimal control theory to control those paths. The task is to provide the UAV with the ability to autonomously follow a predefined path. The benefit of this controller is its optimality of control effort and robustness. Simulations are performed by Aerosound UAV model information.

Keywords:

path following , automatic landing , trim condition , optimal control , fixed wing UAV