時変非対称バリアリアプノフ関数を視野角制約に用いた無人航空機の経路角指定の垂直着陸誘導について

抄録

Guidance laws, including proportional navigation, have been studied in various fields. However, there are no examples of applying an impact angle control guidance (IACG) law to vertical landing for an unmanned aerial vehicle (UAV) considering the field-of-view (FOV) limitation of the rigid body model. In this study, an IACG law based on proportional navigation is applied to the rigid body problem for a small multicopter-type UAV, and landing simulations using a time-varying asymmetric barrier Lyapunov function are performed while constraining the pitch angle which limitation comes from the orientation of the UAV's sensor.