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

Hossein Bonyan Khamseh

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.

Keywords


Feedback linearization; Unmanned aerial vehicle; Motion planning

Full Text:

PDF

Refbacks

  • There are currently no refbacks.
';



Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.