Waypoint Tracking of A Fixed-Wing UAV Using The L1 Cross Track Error Control
The utilization of fixed-wing Unmanned Aerial Vehicle (UAV) technology has grown not limited to the military field but also in monitoring, mapping and aerial photography. One of the activities that are often carried out is monitoring the area and aerial photography. To carry out this mission, the UA...
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| Main Authors: | , , , |
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| Format: | Article PeerReviewed |
| Language: | English |
| Published: |
ICIC International
2022
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| Subjects: | |
| Online Access: | https://repository.ugm.ac.id/282157/1/Nugroho%20et%20al%20-2022%20-%20WAYPOINT%20TRACKING%20OF%20A%20FIXED-WING%20UAV.pdf https://repository.ugm.ac.id/282157/ http://www.icicelb.org/ellb/contents/2022/2/elb-13-02-01.pdf |
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| Institution: | Universitas Gadjah Mada |
| Language: | English |
| Summary: | The utilization of fixed-wing Unmanned Aerial Vehicle (UAV) technology has grown not limited to the military field but also in monitoring, mapping and aerial photography. One of the activities that are often carried out is monitoring the area and aerial photography. To carry out this mission, the UAV must be able to trace the waypoint lines. The waypoint control system made in this study uses the Linear Quadratic Regulator (LQR) method to maintain the stability of the lateral and longitudinal attitudes of the vehicle during the waypoint tracking mission. In navigation control, the L1 controller method generates the value of lateral acceleration and is converted into an angle value to navigate the UAV to the waypoint line. The results of this study are the UAV can maintain the trajectory while simultaneously tracking the six waypoint coordi-nates autonomously using the Linear Quadratic Regulator (LQR) and the L1 controller navigation method. © 2022, ICIC International. All rights reserved. |
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