Integrated Guidance and Control Scheme for Unmanned Aerial Vehicle with Unknown Control Coefficient Accommodating Approach Angle and Field-of-View Constraints

Abstract

This paper investigates the issue of integrated guidance and control (IGC) design for an unmanned aerial vehicle with an unknown control coefficient, approach angle constraint, and field-of-view limitations. Different from the existing methods, the proposed approach integrates the approach angle and field-of-view requirements into a single reference to satisfy the constraints simultaneously, and meanwhile guarantees the successful mission despite the unknown control coefficient. Based on the established IGC model, a novel sliding mode strategy is generated to ensure that the approach angle and field-of-view constraints can be obeyed once the designed reference is tracked precisely. Then, the IGC issue are transformed into a tracking problem under an unknown control direction, and the periodic sliding mode control technique is introduced to construct the IGC law. The stability of the closed-loop system is analyzed in detail. The effectiveness of the proposed method is verified by numerical simulations.