How to obtain acceleration and angular velocity control inputs to track a fixed-wing UAV trajectory?

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Shubham Kalpande 2021-3-7

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https://ww2.mathworks.cn/matlabcentral/answers/765056-how-to-obtain-acceleration-and-angular-velocity-control-inputs-to-track-a-fixed-wing-uav-trajectory

评论： Shubham Kalpande 2021-3-28

I want to track a given trajectory for a fixed-wing UAV. This example from UAV toolbox does the exact task, but I am not able to understand what are it's control inputs (u). Can someone please explain how can I obtain these control inputs or is there any other way to get the tracking done in a simple manner and obtain the acceleration and angular velocity inputs?

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Jianxin Sun 2021-3-10

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Hi Shubham,

You can check the exampleHelperUAVDerivatives.m file in the example you referred to. This file should be in the same folder you had the example mlx file.

You can also check the reference page https://www.mathworks.com/help/uav/ref/fixedwing.html for more details on the fixed wing kinematic model we used in the example and check the example https://www.mathworks.com/help/uav/ug/tuning-waypoint-follower-for-fixed-wing.html for a Simulink implementation of a similar controller.

Thanks,

Jianxin

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Jianxin Sun 2021-3-25

You can check the high fidelity plant model implementation in https://www.mathworks.com/help/uav/ug/approximate-high-fidelity-uav-model-with-guidance-model.html. It includes emulating sensor noise.

Shubham Kalpande 2021-3-28

The link does not seem to work as it says the page doesn' t exist. Anyway, Thank you for all the help Jianxin. Your inputs have been crucial in developing the understanding of my problem.

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