Print Email Facebook Twitter Adaptive path following for Unmanned Aerial Vehicles in time-varying unknown wind environments Title Adaptive path following for Unmanned Aerial Vehicles in time-varying unknown wind environments Author Zhou, Bingyu (Student TU Delft) Satyavada, Harish (GE Global Reseach) Baldi, S. (TU Delft Team Bart De Schutter) Contributor Sun, J. (editor) Rajamani, R. (editor) Date 2017 Abstract In this paper, an adaptive control scheme for Unmanned Aerial Vehicles (UAVs) path following under slowly time-varying wind is developed. The proposed control strategy integrates the path following law based on the vector field method with an adaptive term counteracting the effect of wind's unknown component. In particular, it is shown that the path following error is bounded under slowly time-varying unknown wind and converges to zero for unknown constant wind. Numerical simulations illustrate that, in environments with unknown and slowly time-varying wind conditions, the proposed method compensates for the lack of knowledge of the wind vector, and attains a smaller path following error than state-of-the-art vector field method. To reference this document use: http://resolver.tudelft.nl/uuid:f86df022-9f57-4b31-91ba-c1561cac9f1a DOI https://doi.org/10.23919/ACC.2017.7963104 Publisher IEEE, Piscataway, NJ, USA ISBN 978-1-5090-4583-9 Source Proceedings of the 2017 American Control Conference (ACC 2017) Event 2017 American Control Conference, ACC 2017, 2017-05-24 → 2017-05-26, Seattle, United States Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2017 Bingyu Zhou, Harish Satyavada, S. Baldi Files PDF adaptive_path_unmanned_revised.pdf 487.85 KB Close viewer /islandora/object/uuid:f86df022-9f57-4b31-91ba-c1561cac9f1a/datastream/OBJ/view