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Asymmetrical Artificial Potential Field as Framework of Nonlinear PID Loop to Control Position Tracking by Nonholonomic UAVs
| Content Provider | MDPI |
|---|---|
| Author | Kownacki, Cezary Ambroziak, Leszek |
| Copyright Year | 2022 |
| Description | Precise position tracking plays a key role in formation flights of UAVs (unmanned aerial vehicles) or other applications based on the idea of the leader–following scheme. It decides on the integrity of a formation or increasing the position error when a UAV follows the desired flight path. This is especially difficult in the case of nonholonomic vehicles having limited possibilities of making turns, causing a lack of stability. An asymmetrical artificial potential field (AAPF) is the way to achieve the stability of position tracking by nonholonomic UAVs, but it is only a nonlinear proportional relation to feedback given by a tracking error. Therefore, there can still be a steady-state error or error overshoots. Combining an AAPF with integral and derivative terms can improve the response of control by damping overshoots and minimizing the steady-state error. Such a combination results in a regulator whose properties allow defining it as nonlinear PID. Numerical simulation confirms that integral and derivative terms together with an AAPF create a control loop that can minimize overshoots of the tracking error and the steady-state error and satisfy conditions of asymptotical stability. |
| Starting Page | 5474 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s22155474 |
| Journal | Sensors |
| Issue Number | 15 |
| Volume Number | 22 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-07-22 |
| Access Restriction | Open |
| Subject Keyword | Sensors Industrial Engineering Nonholonomic Robots Uav Position Tracking Potential Field Pid |
| Content Type | Text |
| Resource Type | Article |
