“LEADER-FOLLOWER TRACKING CONTROL FOR GLIDING UAVs SYSTEM”
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Abstract
In the paper a system formed by two glider-type UAVs is considered. Guided bombs are examples of such UAVs (for example, the GBU bomb manufactured by Boeing). The specificity of glider UAVs is that they fly not with the help of engines, as rockets, airplanes or helicopters do, but exclusively under the action of gravity and aerodynamic forces caused by the geometry of the object (the presence of wings).
One of the system gliders plays the role of a leader, that is, it is controlled automatically according to a given algorithm or it is controlled by an operator. It is assumed that the leader’s task is to hit a specific target on Earth. The second glider of the system is a follower, for which it is possible to build automatic control. The task is to find such control for the follower, with the help of which it would track the leader in such a way as to hit the target that the leader is oriented towards. To find such control, the condition for tracking the leader by the follower is formulated in the first part of the paper. Namely, tracking the leader means such movement of the follower, in which at least one of the following conditions is met: 1) the velocity vector of the follower and the vector ( and denote the radius vectors of the leader’s and follower’s centers of mass, respectively) are co-directed, 2) the positions of the follower and the leader coincide. In the second part of the paper, based on the differential equations of motion, an equation for the error is derived, which is taken to be the vector product of the vectors and . It is shown that under certain assumptions, the the error is equil to zero if and only if the follower tracks the leader. Based on the equations for the error, using the principle of sliding mode control, a control for the follower glider is constructed in the form of a law of change of its angular velocity vector.
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References
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