Study on 4D Path Planning and Tracking Controlling of UCAV in Multiple Constraints Dynamic Condition

摘要：

　　Aiming at the path planning and tracking of a UCAV in multiple constraints dynamic condition,the mathematic model of the UCAV is built firstly and the cost function is designed.Considering the constraints,the path nodes extension method is proposed.In response to the problem of online trajectory re-planning,we put forward the 4D path planning FISAS arithmetic in order to realize on-line path planning when meeting the emergent threats during flying.The path is smoothened,adjusted and interpolated by using the cubic B-spline method considering dynamic constraints,boundary limit and overload limit,and the flight play test condition is built.The tracking of the trajectory attitude and velocity are realized with dynamics model of the UCAV by the use of sliding mode variable control and the expect output is obtained.The results of the simulation show that the four-dimensional path under the real-time dynamic operational environment could fulfill the requirements,and the tracking controller has good robustness,and expected trajectory can be tracked precisely and rapidly.

关键词： Unmanned Combat Aerial Vehicles 4D Path Planning dynamics model variable structure controller

作者: Huang Hanqiao Zhang Wei Zhao Xin Tang Chuanlin Cai Yawei

作者单位: Air force Engineering University Aeronautics and Astronautics Engineering College,Xian 710038,China Fourth Military Medical University,Institute of Military Preventive Medicine ,Xian 710032,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 31-36

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）