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A Nonlinear Control Method for Autonomous Navigation Guidance

G. Carloni(1*), K. Bousson(2)

(1) Politecnico di Milano, Facoltà di Ingegneria Aeronautica, Italy
(2) Avionics & Control Laboratory, Department of Aerospace Sciences, University of Beira Interior, Portugal
(*) Corresponding author



This paper deals with a nonlinear feedback control method based on Lie derivatives for the navigation guidance of unmanned aerial vehicles (UAVs). The paper proposes a modelling concept for planar and three-dimensional navigation together with proven algorithms to cope with the autonomous navigation along waypoints and on loiters. The steps that were performed in order to validate the autonomous navigation method are clearly described. The method was successfully validated on various realistic navigation scenarios for unmanned aircraft.
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Navigation Guidance; UAV; Nonlinear Contol; Lie Derivatives; Waypoints; Loiters

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