The study discusses approaches and an apply example of using geometric invariants in problems of control theory. An analytical review of modern papers in the field of trajectory tracking and path following control problems for unmanned aerial vehicles (UAVs) has been carried out. To increase the autonomy and ability to cope with uncertainties, it is proposed to use the theory of intelligent-geometric control. The problem of the trajectory tracking is considered in the framework of the pursuit-evasion differential game. Control invariants are considered in the form of ellipsoids, that can be used, for example, in pursuit-evasion problems. The task of determining the parameters of the pursuer’s motion to meet the evader on an ellipsoid is solved. The dependence of the pursuer’s speed on the parameters of the ellipse is shown. A modeling scheme is proposed aimed at joint application of optimal and intelligent control methods to solve trajectory tracking problem in difficult conditions. Simulations carried out in a disturbed environment on controlling the motion of a UAV group showed prospects of the proposed approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of Geometric Invariants in the Problem of Trajectory Tracking for UAVs


    Contributors:


    Publication date :

    2022-11-17


    Size :

    477584 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Geometric trajectory tracking with attitude planner for vectored-thrust VTOL UAVs

    Invernizzi, Davide / Lovera, Marco / Zaccarian, Luca | BASE | 2018

    Free access

    Trajectory tracking control of thrust-vectoring UAVs

    Invernizzi, Davide / Lovera, Marco | BASE | 2018

    Free access

    Path Planning, Trajectory Tracking and Guidance for UAVs

    GWLB - Gottfried Wilhelm Leibniz Bibliothek | 2025

    Free access

    A novel approach for trajectory tracking of UAVs

    De Filippis, Luca / Guglieri, Giorgio / B. Quagliotti, Fulvia | Emerald Group Publishing | 2014