Flying-wing型無人航空機の経路追従のためのリアプノフ関数に基づく実用的制御法の提案

抄録

This paper presents a Lyapunov based approach for achieving practical path tracking control of a flying-wing unmanned aerial vehicle in wind environments. The approach calculates the desired bank angles for following given paths, taking into account the convergence of the control system. To implement this approach, a simple PD controller is employed to converge to the desired bank angles. Experimental results in Hokkaido validate the effectiveness of the proposed approach for practical design.