Extremal Control and Modified Explicit Guidance for Autonomous Unmanned Aerial Vehicles

E. Kawamura, D. Azimov
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Abstract

This study aims to develop and integrate guidance and control functions for applications. The utility of integrated nonlinear optimal control and explicit guidance functions replaces linear PID control laws. This approach leverages UAV flight autonomy, thereby paving the way for creating an autonomous control technology with real-time target-relative guidance and re-targeting capabilities. A 360° roll maneuver combines extremal control and modified explicit guidance. The roll maneuver accurately reaches the desired position and velocity vectors through the proposed integration. Satisfying the first-order necessary optimality conditions demonstrates that the roll maneuver has extremal trajectories. To the best of the authors' knowledge, this is the first time analyzing and testing the Weierstrass condition and the first and second-order conditions of optimality for UAVs. Second-order conditions show that the 360° roll maneuver with explicit rotational attitude guidance does not have an optimal trajectory and yields an extremal trajectory.
自主无人机的极限控制与修正显式制导
本研究旨在开发并整合导引与控制功能以供应用。综合非线性最优控制和显式制导函数的应用取代了线性PID控制律。这种方法利用无人机飞行自主性,从而为创建具有实时目标相对制导和重新瞄准能力的自主控制技术铺平了道路。一个360°滚转机动结合了极端控制和修改明确制导。通过所提出的积分,使滚转机动精确地达到所需的位置和速度矢量。满足一阶必要最优性条件表明滚转机动具有极值轨迹。据作者所知,这是第一次分析和测试无人机的Weierstrass条件以及一阶和二阶最优条件。二阶条件表明,在明确旋转姿态制导下的360°滚转机动不存在最优轨迹,而是产生一个极值轨迹。
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