| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 101 === This paper presents an advanced guidance law which is based on robust feedback linearization (RFL) concepts and design procedures for autonomous pursuit of predefined waypoints for unmanned aerial vehicles (UAVs) in the three-dimensional (3D) area. In this investigation, a nonlinear 3D model of UAV considered wind gust disturbances is used for realizing realistic flight maneuvers. In this investigation, the overall error dynamics between the guided UAV and tracked waypoints can be proven as being stability in absence of external disturbances, and all effects of the external disturbances, such as wind gust will be proven to be attenuated below a certain of attenuation level if they are taken into consideration. Besides, a viewable lab-based simulator is developed for the above guided UAV is built up by MATLAB software; it’s capable of simulating both homogeneous and heterogeneous characteristics of the engaging air vehicles. Finally, tracking performances between the proposed robust guidance law and the feedback linearization based guidance law are demonstrated the by comparison results.
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