标题：A PD nonlinear dynamic inverse guidance law based collision avoidance for UAVs
作者：Gai, Wendong ;Zhang, Ning ;Li, Yuxia ;Zhang, Jing
作者机构：[Gai, Wendong ;Zhang, Ning ;Li, Yuxia ;Zhang, Jing ] Department of Electrical Engineering and Automation, Shandong University of Science and Technolog 更多
会议名称：2017 Chinese Automation Congress, CAC 2017
会议日期：October 20, 2017 - October 22, 2017
来源：Proceedings - 2017 Chinese Automation Congress, CAC 2017
摘要：A PD nonlinear dynamic inverse guidance law finite time convergence is proposed for the problem of UAV's collision avoidance in this paper. First, a proportional-derivative nonlinear dynamic inverse guidance law, which can be applied to multiple initial angles and speeds, is designed to ensure the security of UAV's collision avoidance. In addition, the stability of guidance law is proved by the circle criterion, and stability conditions are used to design coefficients of guidance law. In order to analysis the performance of this guidance law, a simulation system based on 6-DOF UAV is established. The results conclusively demonstrate that the maneuvering range of collision avoidance is smaller than the collision avoidance method based on traditional nonlinear dynamic inverse guidance.
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