On the guidance of a UAV under unknown wind disturbances

Ioanis Sarras (1) , Houria Siguerdidjane (2)

1 L2S - Laboratoire des signaux et systèmes
2 E3S - Supélec Sciences des Systèmes

We examine the path-following guidance of a UAV in three-dimensions and in the presence of quasi-constant but unknown wind disturbances. The analysis and control design are based only on a kinematic model. A first contribution is an alternative description of the dynamics that simplifies the design. A second contribution is the derivation of a guidance law that ensures the global asymptotic convergence to the desired path in spite of wind perturbations. To achieve our objective a simple estimator based on the Immersion and Invariance (I&I) approach is used for the estimation of the wind velocities and tools from robustness analysis for the stability proof.

Domaines: Automatique / Robotique

Ioanis Sarras, Houria Siguerdidjane. On the guidance of a UAV under unknown wind disturbances. 2014 IEEE Conference on Control Applications (CCA), Oct 2014, Antibes, France. ⟨10.1109/CCA.2014.6981442⟩. ⟨hal-01073423⟩